CN114941786A - Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor - Google Patents
Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor Download PDFInfo
- Publication number
- CN114941786A CN114941786A CN202210809951.8A CN202210809951A CN114941786A CN 114941786 A CN114941786 A CN 114941786A CN 202210809951 A CN202210809951 A CN 202210809951A CN 114941786 A CN114941786 A CN 114941786A
- Authority
- CN
- China
- Prior art keywords
- pitching
- frame
- voice coil
- coil motor
- flexible support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims description 33
- 230000035939 shock Effects 0.000 claims abstract description 29
- 239000006096 absorbing agent Substances 0.000 claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 210000004907 gland Anatomy 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000006880 cross-coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a two-axis four-frame servo turntable based on flexible support and voice coil motor composition, which comprises an outer frame orientation drive part, an outer frame pitching drive part, an inner frame orientation drive part and an inner frame pitching drive part; the outer pitching and outer orientation adopt the design that a brushless motor is matched with a rolling bearing, the inner orientation and inner pitching adopt the design that a voice coil motor is matched with a flexible support, and the voice coil motor is a driving component of rotary motion to realize the rotary motion in the direction of a shaft system; the four frames are provided with angle sensors in a rotating manner, so that angle information is collected, and accurate control of rotating motion is realized; the outer frame is connected with the inner frame through a shock absorber; the invention realizes the movement of two shafts through the flexible support and the voice coil motor, the rotating angle is accurate, and the working bandwidth is high; in a limited volume size, the motor output is effectively improved, and powerful support is provided for improving the bandwidth in the control of the servo turntable; the number of parts is reduced, the assembly time is reduced, and the processing is simplified.
Description
Technical Field
The invention belongs to the technical field of mechanical design of photoelectric platforms, and relates to a two-axis four-frame rotating mechanism based on flexible support and voice coil motor.
Background
The main difference for the system mechanical structure design is the redesign of the internal pitch azimuth axis structure. The traditional shafting structure has the problems of large shafting structure inertia and large friction moment, so that the control system has the defects of serious nonlinearity, slow system response and low control precision. The photoelectric system aims at the problems that the existing photoelectric system has high requirements on frequency response characteristics, the system is required to have no friction, the size is small, the structure is compact, and the traditional rotating mechanism is expensive, large in size, complex in equipment and difficult to maintain.
The external shafting can realize large-angle range rotation, and the internal shafting can realize accurate, quick and low-cross-coupling two-axis rotation of the mechanism.
Meanwhile, the traditional two-shaft rotating mechanism is partially designed based on a rolling bearing and a wireless brush motor, and is assembled by a motor and a shaft system, and meanwhile, an angle sensor is also arranged in the axial direction. The axial distance is increased, the actual load space is compressed, and the size is difficult to reduce.
Disclosure of Invention
The invention aims to provide a two-axis rotating mechanism based on a voice coil motor and a flexible support, which can realize low cross coupling rotation of two axes and has quick response performance.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme, which is described by combining the accompanying drawings as follows:
it should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to solve the technical problem, the two-shaft rotating mechanism based on the flexible support, the voice coil motor, the ball bearing, the brushless motor and the harmonic wheel reducer comprises an inner shaft system and an outer shaft system, wherein the outer shaft system and the outer shaft system are composed of the brushless motor and the ball bearing. The internal azimuth and pitch axis system is composed of a voice coil motor and a flexible support. The base of the external orientation is connected with the carrier, the automobile, the ship and the like, and meanwhile, the external orientation shaft is connected with the base of the external orientation, the rolling bearing and the brushless motor so as to drive the external orientation. Meanwhile, an angle sensor is arranged between the outer azimuth shaft and the outer azimuth base, so that the rotating angle of the outer azimuth can be accurately judged. The outer pitching frame is connected with the outer azimuth shaft, the outer pitching shaft is connected with the outer pitching frame, the rolling bearing and the brushless motor, and the outer pitching motor is connected with the harmonic wheel reducer to complete the driving of external pitching. The large torque output can be met, and the structural space can be reduced. Meanwhile, an angle sensor is arranged between the outer pitching shaft and the outer pitching frame, so that the rotating angle of the outer pitching can be accurately judged. The external orientation adopts rolling bearing and brushless motor drive to realize the rotation on the angle of large scale.
The shock absorber fixing seat is connected with the outer pitching frame through a shock absorber. High-frequency vibration can be filtered through damping, and a stable environment is provided for the rapid and small-angle accurate positioning of the internal shafting.
The inner position frame is connected with the shock absorber through a flexible support, the voice coil motor is fixed on the shock absorber and fixedly seated, and the rotor is connected with the inner position frame. And an angle sensor is arranged on the inner direction frame to detect the angle of the inner direction movement, so that accurate control is realized. The inner pitching frame is connected with the position frame through a flexible support, the voice coil motor is fixed on the inner position frame, and the rotor is connected with the inner pitching frame. And an angle sensor is arranged on the inner pitching frame to detect the angle of the inner direction movement, so that accurate control is realized. The use of the voice coil motor provides a driving unit with smaller size and larger moment for structural design. The use of the flexible support provides a rotary support link without friction and backlash for servo control, and the servo control effect is improved greatly.
A two-shaft four-frame rotating mechanism based on flexible support and a voice coil motor comprises an outer pitch shaft system, an outer orientation shaft system, an inner pitch shaft system and an inner orientation shaft system, wherein the outer pitch shaft system and the outer orientation shaft system adopt brushless motors and rolling bearings, and the inner orientation shaft system and the inner pitch shaft system adopt voice coil motors and flexible support;
the outer azimuth axis system is fixed, the outer pitch axis system is installed on the outer azimuth axis system, the inner pitch axis system is installed on the outer pitch axis system, and the inner pitch axis system is installed on the inner azimuth axis system.
Furthermore, the four shaft systems are provided with angle sensors, and the angle is accurately controlled through signals of the angle sensors.
Further, the outer orientation shaft system comprises an outer orientation base 1.1, an outer orientation motor 1.2, a rotating bearing 1.3, an outer orientation shaft 1.4 and an orientation angle sensor 1.6;
the outer azimuth shaft 1.4 is fixed on the outer azimuth base 1.1 through a rotary bearing 1.3 and a gland, and the other end of the outer azimuth shaft 1.4 is fixed with a rotor of the outer azimuth motor 1.2 through a screw; the stator of the external orientation motor is fixed on an external orientation base 1.1, and an orientation angle sensor 1.6 is arranged on the extension section of an external orientation shaft 1.4.
A two-axis four-frame rotating mechanism based on flexible support and voice coil motor comprises an outer pitching angle sensor 1.9 and an outer pitching bearing 1.11;
the output end of the outer azimuth axis 1.4 is fixed on the outer pitching frame 1.5 through a screw, one side of the outer pitching frame 1.5 fixes the outer pitching axis 1.8 on the outer pitching frame 1.5 through an outer pitching bearing 1.11, and the outer pitching axis 1.8 is provided with an outer pitching angle sensor 1.9; the other side of the outer pitching frame 1.5 is provided with an outer pitching bearing 1.11 to fix the outer pitching shaft 1.8 on the outer pitching frame 1.5, and one end of the outer pitching shaft 1.8 is connected with an outer pitching driving motor 1.7 through a screw;
the outer orientation base 1.1 is connected with a scene in practical application, and is connected with the outer orientation base 1.1, the rotary bearing 1.3 and the outer orientation motor 1.2 by using an outer orientation shaft 1.4 so as to drive the outer orientation;
an outer pitching angle sensor 1.9 is arranged between the outer azimuth axis 1.4 and the outer azimuth base 1.1; the outer pitching frame 1.5 is connected with the outer orientation shaft 1.4, and the outer pitching shaft 1.8 is connected with the outer pitching frame 1.5, the outer pitching bearing 1.11 and the outer pitching driving motor 1.7 so as to drive the outer pitching.
Further, the inner azimuth shafting comprises an inner frame 2.1, a shock absorber 2.2, an inner azimuth fixing seat 2.3 and an inner azimuth voice coil motor 2.4;
the outer pitch shaft 1.8 is connected with the inner frame 2.1 through screws to realize the connection of the inner frame and the outer frame.
The upper end and the lower end of the inner frame 2.1 are provided with symmetrical shock absorbers 2.2; the inner fixed seat 2.3 is fixed on the shock absorber 2.2 through a screw;
further, the inner pitch shafting comprises a pitch frame side bearing fixing seat 2.8, an inner pitch frame 2.9, an inner pitch voice coil motor 2.10, an inner pitch flexible support fixing seat bearing 2.11, an inner pitch flexible support 2.12, a load side bearing fixing seat 2.13 and a load support 2.14;
the pitching frame side bearing fixing seat 2.8 is fixed on the flexible support 2.5 through pre-tightening; the pitching frame side bearing fixing seat 2.8 is fixed with the inner pitching frame 2.9 through a screw;
the inner pitching frame 2.9 is provided with a driving force arm, the driving force arm is connected with a rotor of the inner position voice coil motor 2.4 through a screw, and a stator of the voice coil motor is connected with the position fixing seat 2.3 through a screw;
the inner pitching flexible supporting fixed seat bearing 2.11 is fixed on the inner pitching frame 2.9 through a screw, and the inner pitching flexible supporting fixed seat bearing 2.11 is disc-shaped and provided with a gap; the inner pitching flexible support 2.12 is fixed on the inner pitching flexible support fixing seat bearing 2.11 through screw pre-tightening; the load side bearing fixing seat 2.13 is fixed by being pre-tightened on the inner pitching flexible support 2.12; the bearing 2.11 of the inner pitching flexible supporting and fixing seat is fixed with the load bracket 2.14 through a screw.
Further, an outer pitch angle sensor 1.9 is arranged between the outer pitch shaft 1.8 and the outer pitch frame 1.5; the shock absorber fixing seat is connected with the outer pitching frame 1.5 through a shock absorber 2.2; the shock absorber fixing seat is connected with the inner position frame 1.5 through the inner pitching flexible support 2.12, and the inner position voice coil motor 2.4 is fixed on the shock absorber fixing seat.
Furthermore, the azimuth flexible supporting seat 2.6 is fixed on the inner azimuth fixed seat 2.3 through a screw, and the azimuth flexible supporting seat 2.6 is disc-shaped and provided with a gap;
the flexible support 2.5 is fixed on the flexible azimuth support seat 2.6 by pre-tightening the flexible azimuth support seat 2.6 by using a screw;
the inner pitching frame 2.9 is provided with an inner pitching angle sensor 2.15;
the load carrier 2.14 is equipped with an internal azimuth angle sensor 2.7.
Furthermore, driving arms are designed on the inner pitching frame 2.9 and the load support 2.14, the driving arms are connected with the inner pitching voice coil motor 2.10, a stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 through a screw, and the inner pitching voice coil motor 2.10 drives the shaft system to rotate through the driving arms.
A two-shaft four-frame rotating mechanism based on flexible support and voice coil motor comprises a harmonic wave wheel reducer 1.10;
the harmonic wheel reducer 1.10 is connected with the inner frame 2.1;
compared with the prior art, the outer pitch shaft system is driven by the outer pitch driving motor 1.7 and the harmonic wheel reducer 1.10, and the invention has the beneficial effects that:
the flexible support and voice coil motor driving scheme adopted by the inner frame has enough rigidity in the non-working direction to maintain the quick response performance of the system. Meanwhile, the shaft system assembled by the flexible support has the advantages of simplicity in processing, no mechanical friction, no clearance, no backlash and the like. The voice coil motor has the advantages of no lag, small size, large moment and the like. The structure that includes bearing internal fixation seat and motor external fixation seat has compact structure, small advantage. The invention realizes the movement of two shafts through the flexible support and the voice coil motor, the rotating angle is accurate, and the working bandwidth is high.
The invention adopts the design scheme that the inner frame and the outer frame are fixedly connected through the shock absorber, provides a good environment for the accuracy and stability of the inner frame in the actual use process, and effectively filters high-frequency vibration.
The invention adopts a mode that the outer pitching motor and the harmonic wave wheel speed reducer are jointly driven, effectively improves the motor output in a limited volume size through the harmonic wave wheel speed reducer, and provides powerful support for improving the bandwidth in the control of the servo turntable.
The invention has the advantages that the structural design of two-axis rotation effectively reduces the overall mass and volume of the system, and has the key characteristics of stable rotation center, high precision, high reliability, no abrasion and the like, thereby reducing the constraint on load; because the number of parts is reduced, the assembly time is reduced, and the processing process is simplified.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a sectional view of a two-axis four-frame rotating mechanism based on a flexible support and a voice coil motor, wherein the two-axis four-frame rotating mechanism is located along a plane where the axis of a rotating shaft is located;
FIG. 2 is a view taken down in the plane of the axis of the inner and outer pitch axes of FIG. 1;
FIG. 3 is a view taken upward in FIG. 1 along the plane in which the axes of the inner and outer pitch axes lie;
FIG. 4 is an overall appearance diagram of a two-axis four-frame rotating mechanism based on flexible support and voice coil motor.
In the figure, 1.1, an outer orientation base, 1.2, an outer orientation motor, 1.3, a rotary bearing, 1.4, an outer orientation shaft, 1.5, an outer pitching frame, 1.6, an orientation angle sensor, 1.7, an outer pitching driving motor, 1.8, an outer pitching shaft, 1.9, an outer pitching angle sensor, 1.10, a harmonic wheel reducer and 1.11 of an outer pitching bearing;
2.1, an inner frame, 2.2, a shock absorber, 2.3, an inner position fixing seat, 2.4, an inner position voice coil motor,
2.5, flexible support, 2.6, flexible supporting seat of position, 2.7, interior position angle sensor, 2.8, every single move frame side bearing fixing base, 2.9, interior every single move frame, 2.10 interior every single move voice coil motor, 2.11, interior every single move flexible support fixing base bearing, 2.12 interior every single move flexible support, 2.13, load side bearing fixing base, 2.14 load support, 2.15 interior every single move angle sensor.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
The invention is described in detail below with reference to the attached drawing figures:
the invention relates to a two-axis four-frame servo turntable based on a flexible support and a voice coil motor. The outer pitching and the outer direction adopt the design that a brushless motor is matched with a rolling bearing, the inner direction and the inner pitching adopt the design that a voice coil motor is matched with a flexible support, and the design is a driving component part of rotary motion, so that the rotary motion in the direction of a shaft system is realized. The four frames are all provided with angle sensors for collecting angle information and realizing accurate control of rotary motion. The outer frame and the inner frame are connected through the shock absorber, and an effective shock filtering effect is achieved in an actual use environment. This servo revolving stage can stabilize the big angle motion that the base brought at the during operation through the gyration function of outer every single move frame and outer orientation frame to through the gyration function of interior every single move frame and interior orientation frame, the residual value after the outer frame is stabilized is compensated, and filters the influence that high frequency vibration brought the system stability through the bumper shock absorber, with the accurate stability ability of realization servo revolving stage in moving base operational environment. The flexible support provides the rotation support capability of the inner frame, has the characteristics of no friction, no idle return and the like, and provides a good working state for the accuracy and stability of the inner frame. The two-shaft four-frame servo turntable provided by the invention is suitable for the fields of precision machinery, precision measuring instruments, medical instruments and the like.
The utility model provides a four frame slewing mechanism of diaxon based on flexible support and voice coil motor are constituteed, includes four shaftings in outer every single move, outer orientation, interior every single move and interior orientation, wherein outer every single move and outer orientation adopt brushless motor and antifriction bearing design, and interior orientation and interior every single move adopt voice coil motor and flexible support design. Meanwhile, an angle sensor is arranged between the outer pitching shaft and the outer pitching frame, so that the rotating angle of the outer pitching can be accurately judged. The shock absorber fixing seat is connected with the outer pitching frame through a shock absorber. The damper fixing seat is connected with the inner position frame through a flexible support, the voice coil motor is fixed on the damper fixing seat, and the outer pitching is driven by the motor and the harmonic wheel reducer based on a two-shaft four-frame rotating mechanism formed by the flexible support and the voice coil motor. And an angle sensor is arranged on the inner direction frame to detect the angle of the inner direction movement, so that accurate control is realized. The inner pitching frame is connected with the position frame through a flexible support, the voice coil motor is fixed on the inner position frame, and the rotor is connected with the inner pitching frame. And an angle sensor is arranged on the inner pitching frame to detect the angle of the inner direction movement, so that accurate control is realized.
A two-shaft four-frame rotating mechanism based on flexible supports and a voice coil motor is fixed by the flexible supports on an internal rotating shaft system.
Based on a two-shaft four-frame rotating mechanism consisting of a flexible support and a voice coil motor, a rotating force arm is designed on an inner pitching and azimuth axis and is connected with the voice coil motor, and the voice coil motor drives a shaft system to rotate through the force arm.
Based on a two-shaft four-frame rotating mechanism consisting of a flexible support and a voice coil motor, an angle sensor is installed on a shaft system, and accurate angle control can be realized through sensor signals.
Based on a two-shaft four-frame rotating mechanism consisting of a flexible support and a voice coil motor, the outer pitching is driven by a motor and a harmonic wheel reducer.
A two-axis four-frame rotating mechanism based on flexible support and a voice coil motor is fixed on an outer pitching axis system through a shock absorber on an inner azimuth axis system.
Based on a two-axis four-frame rotating mechanism formed by a flexible support and a voice coil motor, a base in an outer orientation is connected with a scene of practical application, and meanwhile, an outer orientation shaft is connected with the base in the outer orientation, a rolling bearing and a brushless motor to complete driving to the outer orientation.
Meanwhile, an angle sensor is arranged between the outer azimuth shaft and the outer azimuth base, so that the rotating angle of the outer azimuth can be accurately judged. The outer pitching frame is connected with the outer azimuth shaft, and the outer pitching shaft is connected with the outer pitching frame, the rolling bearing and the brushless motor to drive the outer pitching.
As shown in fig. 1, 2, 3 and 4, the two-axis four-frame external rotation mechanism based on the voice coil motor and the flexible support of the invention comprises an external orientation base 1.1, an external orientation motor 1.2, a rotary bearing 1.3, an external orientation shaft 1.4, an external pitch frame 1.5, an orientation angle sensor 1.6, an external pitch drive motor 1.7, an external pitch shaft 1.8, an external pitch angle sensor 1.9, a harmonic wheel reducer 1.10 and an external pitch bearing 1.11.
The outer azimuth shaft 1.4 is fixed to the outer azimuth base 1.1 through a rotary bearing 1.3 and a gland, and the other end of the outer azimuth shaft 1.4 is fixed to a rotor of the outer azimuth motor 1.2 through a screw. The stator of the motor in the outer orientation is fixed on the base 1.1 in the outer orientation, and an orientation angle sensor 1.6 is arranged on the extension section of the outer orientation shaft 1.4.
The output end of the outer azimuth axis 1.4 is fixed on the outer pitching frame 1.5 through a screw, one side of the outer pitching frame 1.5 fixes the outer pitching axis 1.8 on the outer pitching frame 1.5 through an outer pitching bearing 1.12, and the outer pitching axis 1.8 is provided with an outer pitching angle sensor 1.9. The other side of the outer pitching frame 1.5 is provided with an outer pitching bearing 1.11 for fixing the outer pitching shaft 1.8 on the outer pitching frame 1.5, and one end of the outer pitching shaft 1.8 is connected with the outer pitching driving motor 1.7 through a screw.
The outer pitch shaft 1.8 is connected with the inner frame 2.1 through screws to realize the connection of the inner frame and the outer frame.
The upper end and the lower end of the inner frame 2.1 are provided with symmetrical shock absorbers 2.2 for filtering external vibration. Meanwhile, the inner fixed seat 2.3 is fixed on the shock absorber 2.2 through a screw. The position flexible supporting seat 2.6 is fixed on the inner position fixing seat 2.3 through a screw, and the position flexible supporting seat 2.6 is disc-shaped and provided with a gap. The flexible support 2.5 is fixed on the azimuthally flexible support seat 2.6 through screw pre-tightening. Pitching frame side bearing fixing seat 2.8 and flexible supporting seat 2.6 of position structure are similar, fix in flexible supporting 2.5 through pretension. Meanwhile, the pitching frame side bearing fixing seat 2.8 is fixed with the inner pitching frame 2.9 through a screw.
The inner pitching frame 2.9 is provided with a driving arm, the driving arm is connected with a rotor of the inner position voice coil motor 2.4 through a screw, and a stator of the voice coil motor is connected with the position fixing seat 2.3 through a screw. Meanwhile, the inner pitching frame 2.9 is provided with an inner pitching angle sensor 2.15, and real-time angle feedback is carried out through the inner pitching angle sensor 2.15 so as to realize accurate angle control.
The inner pitching flexible supporting and fixing seat bearing 2.11 is fixed on the inner pitching frame 2.9 through a screw, and the inner pitching flexible supporting and fixing seat bearing 2.11 is disc-shaped and is provided with a gap. The inner pitching flexible support 2.12 is fixed on the inner pitching flexible support fixing seat bearing 2.11 through screw pre-tightening. The load side bearing fixing seat 2.13 is similar to the azimuth flexible supporting seat 2.6 in structure and is fixed by pre-tightening the inner pitching flexible supporting seat 2.12. Meanwhile, the bearing 2.11 of the inner pitching flexible supporting and fixing seat is fixed with the load support 2.14 through a screw.
The load support 2.14 is provided with a driving arm, the driving arm is connected with a rotor of the voice coil motor through a screw, and a stator of the voice coil motor 2.11 is connected with the inner pitching frame 2.9 through a screw. Meanwhile, the load support 2.14 is provided with an inner azimuth angle sensor 2.7, and real-time angle feedback is carried out through the sensor so as to realize accurate angle control.
The load support 2.14 is provided with a driving force arm, the driving force arm is connected with a rotor of the inner pitching voice coil motor 2.10 through a screw, and a stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 through a screw.
According to the invention, by the installation mode of the voice coil motor and the flexible support, azimuth and pitching rotation can be realized by controlling the rotor of the voice coil motor, and quick response can be realized within a small-angle range by controlling the voice coil motor. By controlling the brushless motor, the large-angle rotation in the outer direction and the outer pitching direction can be controlled. The invention meets the rotation of the existing rotating structure in a large angle direction and can also improve the rapid and accurate rotation in a small angle range. The stability precision is improved on the premise of not changing the original angle range.
The brushless motor is a kind of motor, and the external orientation motor 1.2 and the external pitching driving motor 1.7 belong to the brushless motor
The rolling bearing is a kind of bearing, and the rotating bearing 3 and the outer pitching bearing 1.11 belong to the kind
The voice coil motor is another type of motor and the inner orientation voice coil motor 2.4 belongs to the class of voice coil motors.
It is to be understood that the above embodiments are merely examples for clarity of description and are not to be construed as limiting the embodiments.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims. And those not described in detail in this specification are well within the skill of those in the art.
Claims (10)
1. The utility model provides a four frame slewing mechanism of diaxon based on flexible support and voice coil motor are constituteed which characterized in that:
the device comprises an outer pitch shaft system, an outer orientation shaft system, an inner pitch shaft system and an inner orientation shaft system, wherein the outer pitch shaft system and the outer orientation shaft system adopt brushless motors and rolling bearings, and the inner orientation shaft system and the inner pitch shaft system adopt voice coil motors and flexible supports;
the outer azimuth axis system is fixed, the outer pitch axis system is installed on the outer azimuth axis system, the inner pitch axis system is installed on the outer pitch axis system, and the inner pitch axis system is installed on the inner azimuth axis system.
2. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 1, wherein:
the four shaft systems are all provided with angle sensors, and the accurate control of the angle is realized through the signals of the angle sensors.
3. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 2, wherein:
the external orientation shaft system comprises an external orientation base (1.1), an external orientation motor (1.2), a rotary bearing (1.3), an external orientation shaft (1.4) and an orientation angle sensor (1.6);
the outer azimuth shaft (1.4) is fixed on the outer azimuth base (1.1) through a rotary bearing (1.3) and a gland, and the other end of the outer azimuth shaft (1.4) is fixed with a rotor of the outer azimuth motor (1.2) through a screw; the stator of the external orientation motor is fixed on an external orientation base (1.1), and an orientation angle sensor (1.6) is arranged on the extension section of the external orientation shaft (1.4).
4. The two-axis four-frame rotary mechanism based on the flexible support and the voice coil motor as claimed in claim 3, wherein:
the device also comprises an outer pitch angle sensor (1.9) and an outer pitch bearing (1.11);
the output end of the outer azimuth axis (1.4) is fixed on the outer pitching frame (1.5) through a screw, one side of the outer pitching frame (1.5) fixes the outer pitching axis (1.8) on the outer pitching frame (1.5) through an outer pitching bearing (1.11), and the outer pitching axis (1.8) is provided with an outer pitching angle sensor (1.9); an outer pitching shaft (1.8) is fixed on the outer pitching frame (1.5) through an outer pitching bearing (1.11) at the other side of the outer pitching frame (1.5), and one end of the outer pitching shaft (1.8) is connected with an outer pitching driving motor (1.7) through a screw;
the external orientation base (1.1) is connected with a scene of practical application, and is connected with the external orientation base (1.1), the rotary bearing (1.3) and the external orientation motor (1.2) by using an external orientation shaft (1.4) so as to drive the external orientation;
an outer pitching angle sensor (1.9) is arranged between the outer azimuth shaft (1.4) and the outer azimuth base (1.1); the outer pitching frame (1.5) is connected with the outer azimuth axis (1.4), and the outer pitching axis (1.8) is connected with the outer pitching frame (1.5), the outer pitching bearing (1.11) and the outer pitching driving motor (1.7) so as to drive the outer pitching.
5. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 4, wherein:
the inner direction shafting comprises an inner frame (2.1), a shock absorber (2.2), an inner direction fixing seat (2.3) and an inner direction voice coil motor (2.4);
the outer pitch shaft (1.8) is connected with the inner frame (2.1) through screws so as to realize the connection of the inner frame and the outer frame.
The upper end and the lower end of the inner frame (2.1) are provided with symmetrical shock absorbers (2.2); the inner position fixing seat (2.3) is fixed on the shock absorber (2.2) through a screw.
6. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 5, wherein:
the inner pitching shafting comprises a pitching frame side bearing fixing seat (2.8), an inner pitching frame (2.9), an inner pitching voice coil motor (2.10), an inner pitching flexible support fixing seat bearing (2.11), an inner pitching flexible support (2.12), a load side bearing fixing seat (2.13) and a load support (2.14);
the pitching frame side bearing fixing seat (2.8) is fixed on the flexible support (2.5) through pre-tightening; the pitching frame side bearing fixing seat (2.8) is fixed with the inner pitching frame (2.9) through a screw;
the inner pitching frame (2.9) is provided with a driving arm, the driving arm is connected with a rotor of the inner position voice coil motor (2.4) through a screw, and a stator of the voice coil motor is connected with the position fixing seat (2.3) through a screw;
the inner pitching flexible supporting fixed seat bearing (2.11) is fixed on the inner pitching frame (2.9) through a screw, and the inner pitching flexible supporting fixed seat bearing (2.11) is disc-shaped and provided with a gap; the inner pitching flexible support (2.12) is fixed on the inner pitching flexible support fixing seat bearing (2.11) through screw pre-tightening; the load side bearing fixing seat (2.13) is fixed by being pre-tightened on the inner pitching flexible support (2.12); the bearing (2.11) of the inner pitching flexible supporting fixed seat is fixed with the load support (2.14) through a screw.
7. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 6, wherein:
an outer pitching angle sensor (1.9) is arranged between the outer pitching shaft (1.8) and the outer pitching frame (1.5); the shock absorber fixing seat is connected with the outer pitching frame (1.5) through a shock absorber (2.2); the shock absorber fixing seat is connected with the inner position frame (1.5) through the inner pitching flexible support (2.12), and the inner position voice coil motor (2.4) is fixed on the shock absorber fixing seat.
8. The two-axis four-frame rotating mechanism based on the flexible support and the voice coil motor as claimed in claim 7, wherein:
the azimuth flexible supporting seat (2.6) is fixed on the inner azimuth fixing seat (2.3) through a screw, and the azimuth flexible supporting seat (2.6) is disc-shaped and provided with a gap;
the flexible support (2.5) is fixed on the azimuth flexible support seat (2.6) by pre-tightening the azimuth flexible support seat (2.6) by using a screw;
the inner pitch frame (2.9) is provided with an inner pitch angle sensor (2.15);
the load support (2.14) is provided with an inner azimuth angle sensor (2.7).
9. The two-axis four-frame rotation mechanism based on flexible supports and voice coil motors of claim 8, wherein:
the inner pitching frame (2.9) and the load support (2.14) are both provided with driving arms, the driving arms are connected with the inner pitching voice coil motor (2.10), a stator of the inner pitching voice coil motor (2.10) is connected with the inner pitching frame (2.9) through screws, and the inner pitching voice coil motor (2.10) drives the shafting to rotate through the driving arms.
10. The two-axis four-frame rotation mechanism based on flexible supports and voice coil motors of claim 9, wherein:
the device also comprises a harmonic wheel reducer (1.10);
the harmonic wave wheel reducer (1.10) is connected with the inner frame (2.1);
the outer pitching shafting is driven by an outer pitching driving motor (1.7) and a harmonic wheel reducer (1.10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210809951.8A CN114941786A (en) | 2022-07-11 | 2022-07-11 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210809951.8A CN114941786A (en) | 2022-07-11 | 2022-07-11 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114941786A true CN114941786A (en) | 2022-08-26 |
Family
ID=82911558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210809951.8A Pending CN114941786A (en) | 2022-07-11 | 2022-07-11 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114941786A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115930060A (en) * | 2023-01-09 | 2023-04-07 | 武汉恒新动力科技有限公司 | Two-shaft four-frame servo platform |
| CN115933162A (en) * | 2022-09-22 | 2023-04-07 | 中国科学院长春光学精密机械与物理研究所 | Bearing device and micro-scanning super-resolution system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030174239A1 (en) * | 2002-03-12 | 2003-09-18 | Alps Electric Co., Ltd. | Actuator and optical apparatus using the same |
| US20160337562A1 (en) * | 2015-05-15 | 2016-11-17 | Samsung Electronics Co., Ltd. | Photographing apparatus, unmanned aerial vehicle having the photographing apparatus, and attitude control method for the photographing apparatus |
| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN108332023A (en) * | 2017-01-19 | 2018-07-27 | 重庆零度智控智能科技有限公司 | Two axis, three axis holders and its capture apparatus |
| CN110824662A (en) * | 2019-12-20 | 2020-02-21 | 成都英飞睿技术有限公司 | One-dimensional quick reflector, two-dimensional quick reflector and flexible supporting structure thereof |
| CN111487998A (en) * | 2020-04-13 | 2020-08-04 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Automatic target capturing method and device for two-axis four-frame photoelectric tracking equipment |
| CN215060883U (en) * | 2021-06-11 | 2021-12-07 | 成都鼎信精控科技有限公司 | Gyro stability augmentation monitoring cradle head |
| CN218543828U (en) * | 2022-07-11 | 2023-02-28 | 长春萨米特光电科技有限公司 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
-
2022
- 2022-07-11 CN CN202210809951.8A patent/CN114941786A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030174239A1 (en) * | 2002-03-12 | 2003-09-18 | Alps Electric Co., Ltd. | Actuator and optical apparatus using the same |
| US20160337562A1 (en) * | 2015-05-15 | 2016-11-17 | Samsung Electronics Co., Ltd. | Photographing apparatus, unmanned aerial vehicle having the photographing apparatus, and attitude control method for the photographing apparatus |
| CN108332023A (en) * | 2017-01-19 | 2018-07-27 | 重庆零度智控智能科技有限公司 | Two axis, three axis holders and its capture apparatus |
| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN110824662A (en) * | 2019-12-20 | 2020-02-21 | 成都英飞睿技术有限公司 | One-dimensional quick reflector, two-dimensional quick reflector and flexible supporting structure thereof |
| CN111487998A (en) * | 2020-04-13 | 2020-08-04 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Automatic target capturing method and device for two-axis four-frame photoelectric tracking equipment |
| CN215060883U (en) * | 2021-06-11 | 2021-12-07 | 成都鼎信精控科技有限公司 | Gyro stability augmentation monitoring cradle head |
| CN218543828U (en) * | 2022-07-11 | 2023-02-28 | 长春萨米特光电科技有限公司 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115933162A (en) * | 2022-09-22 | 2023-04-07 | 中国科学院长春光学精密机械与物理研究所 | Bearing device and micro-scanning super-resolution system |
| CN115933162B (en) * | 2022-09-22 | 2024-03-12 | 中国科学院长春光学精密机械与物理研究所 | Bearing device and micro-scanning super-resolution system |
| 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 |
| CN115930060A (en) * | 2023-01-09 | 2023-04-07 | 武汉恒新动力科技有限公司 | Two-shaft four-frame servo platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114941786A (en) | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor | |
| CN106970363B (en) | Triaxial antenna test turntable system with low reflection characteristic | |
| CN111307175B (en) | High-dynamic three-axis simulation turntable | |
| CN218543828U (en) | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor | |
| CN101719700B (en) | Moment motor driving shafting module for inner frame of airborne photoelectric platform | |
| CN210852954U (en) | Four-frame four-axis photoelectric pod vibration reduction structure | |
| CN105014688A (en) | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length | |
| CN105281034A (en) | Miniature antenna servo apparatus | |
| CN110723267A (en) | Gravity center adjusting system applied to underwater robot | |
| CN212556849U (en) | High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft | |
| CN111633636A (en) | Four-axis SCARA mechanical arm without speed reducer | |
| CN113021404B (en) | Integrated active and passive variable stiffness joint based on cam mechanism | |
| CN214122457U (en) | Servo transmission platform of coaxial feed airborne weather radar | |
| CN103811870A (en) | Moving carrier signal receiving system | |
| CN114877012B (en) | Self-balancing active and passive vibration damper | |
| CN101793534A (en) | Inner-ring upright four-axis stable platform | |
| CN110154081B (en) | Four-axis mechanical arm for 3C industry | |
| CN115493839A (en) | Return difference testing device and method for limited-angle speed reducer | |
| CN112319387B (en) | Stay wire control type following stable platform | |
| CN212218475U (en) | Folding mechanical arm based on piezoelectric driving | |
| CN111633685B (en) | Manipulator parallel joint | |
| CN212497759U (en) | Four-axis SCARA mechanical arm without speed reducer | |
| CN114264303A (en) | Light-small high-precision combined inertial navigation system and navigation mode switching method | |
| CN218514423U (en) | Small built-in laser television transmission device | |
| CN215910630U (en) | Compact three-axis rotary table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |