CN116916131A - Camera and micro-motion platform - Google Patents
Camera and micro-motion platform Download PDFInfo
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- CN116916131A CN116916131A CN202311093948.1A CN202311093948A CN116916131A CN 116916131 A CN116916131 A CN 116916131A CN 202311093948 A CN202311093948 A CN 202311093948A CN 116916131 A CN116916131 A CN 116916131A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 260
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 230000017525 heat dissipation Effects 0.000 claims abstract description 50
- 238000003384 imaging method Methods 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 99
- 230000003321 amplification Effects 0.000 claims description 45
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 45
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- 238000005259 measurement Methods 0.000 claims description 12
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000005284 excitation Effects 0.000 abstract description 11
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/52—Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
Abstract
The invention discloses a camera and a micro-motion platform. The micro-motion platform comprises a micro-driver, a micro-motion sensor and a micro-motion sensor, wherein the micro-driver is connected with the moving platform and outputs telescopic motion to drive the moving platform to move; the displacement detection devices are respectively and fixedly connected with the platform base body and the mobile platform and are used for detecting the displacement of the mobile platform; the mobile platform is provided with a through hole for the heat dissipating device to pass through. The micro-motion platform provided by the invention has the advantages of simple structure, easiness in assembly, high output rigidity and high bearing capacity; the displacement detection device is arranged in the platform, so that the displacement of the mobile platform is conveniently detected, and the displacement of the mobile platform is influenced by controlling the excitation signal of the micro driver; meanwhile, through holes are formed in the mobile platform, so that the heat dissipation device penetrates through the mobile platform and is in direct contact with the imaging assembly, and heat dissipation efficiency in the camera is improved.
Description
Technical Field
The invention relates to the field of micro-positioning platforms, in particular to a camera and a micro-positioning platform.
Background
The micro-motion platform is widely applied to the precision positioning fields of ultra-precision machining, bioengineering, microelectronic packaging and the like, the flexible hinge structure is an elastic support designed by utilizing the local deformation of a component, and the micro-motion platform manufactured based on the flexible hinge has the characteristics of no friction in motion, high response speed, high positioning precision and the like.
The development of the technology has higher and higher requirements on the displacement stroke of the micro-motion platform, and the micro-driver with larger movement range can be adopted for improving the displacement stroke of the micro-motion platform, but the increase of the size and the whole manufacturing cost of the platform can be brought, and the method for amplifying the output of the original micro-driver by designing the flexible hinge layout has low cost and can be suitable for occasions with strict requirements on the size of the platform.
Meanwhile, the requirement of high positioning precision of the micro-motion platform in the whole stroke determines that the micro-motion platform needs to be matched with a displacement detection unit for use. In terms of displacement detection, the Chinese patents CN 102324253B, CN 109140148A and CN 110421532A adopt capacitance sensors for detecting the displacement of the micro-motion platform, the capacitance displacement sensors are high in price, and meanwhile, the installation accuracy requirements of the sensors are high.
Chinese patent CN 106782674A and CN 106921309B adopt a three-stage amplifying mechanism realized by triangle-lever-triangle principle, the three-stage amplifying mechanism of triangle-lever-triangle has larger overall size, is not suitable for the occasion with compact requirements on platform layout, and has lower output rigidity and limited load. CN 112967749A adopts a complex bridge combined lever to realize displacement amplification, and the complex bridge combined lever amplifying mechanism has a complex structure, which is not beneficial to processing and assembly.
Chinese patent CN104956658B discloses an image capturing device, which includes an image sensor; a cooling device arranged at one side of the image sensor and used for cooling the image sensor; and a moving device provided at one side of the cooling device for moving the image sensor and the cooling device. In this patent, the driving part 153 loads various components such as the coupler 151, the first housing 110, the cooling device 130, the image sensor 120, the printed circuit board, etc., and affects the dynamic response characteristics of the system; meanwhile, in this patent, the heat generating part 133 contacts the first housing 110, and the temperature rise of the first housing 110 may suppress the cooling of the image sensor 120, so that the cooling efficiency of the TEC (thermoelectric cooler) is reduced, which is unfavorable for the internal heat dissipation.
Disclosure of Invention
The present invention provides a camera and a micro-motion platform, which can at least solve one of the above technical problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a camera, comprising:
a housing;
the micro-motion platform is fixedly arranged on the inner side of the shell, a moving platform for driving the imaging component to move is arranged in the middle of the micro-motion platform, and a through hole for the heat dissipation device to pass through is formed in the moving platform;
and the imaging assembly is fixedly arranged on the mobile platform.
Further, the heat dissipation device is fixedly arranged on the mobile platform and moves synchronously with the mobile platform.
Further, the heat dissipation device is fixedly connected with the inner side of the shell.
Further, the contact parts of the heat dissipation device, the imaging assembly and the inner side of the shell are respectively provided with a heat dissipation buffer piece for accelerating the heat dissipation rate and reducing the contact friction.
Further, the method further comprises the following steps: and the refrigerating device is arranged at any end of the heat radiating device and is used for assisting the heat radiating device to radiate heat.
The invention also provides a micro-motion platform, which comprises:
the micro-driver is connected with the mobile platform and outputs telescopic motion to drive the mobile platform to move;
the displacement detection devices are respectively and fixedly connected with the platform base body and the mobile platform and are used for detecting the displacement of the mobile platform; any displacement detection device comprises an elastic piece and at least one group of strain gauges distributed along the length direction of the elastic piece;
the mobile platform is provided with a through hole for the heat dissipating device to pass through.
Further, the method further comprises the following steps: a displacement amplification module, comprising: the device comprises a first-stage amplifying mechanism, a second-stage amplifying mechanism and a third-stage amplifying mechanism; the output end of the primary amplifying mechanism is connected with the input end of the secondary amplifying mechanism, the output end of the secondary amplifying mechanism is connected with the input end of the tertiary, and the output end of the tertiary is connected with the mobile platform to form the tertiary displacement amplifying mechanism.
Further, a displacement transmission structure is further arranged on the mobile platform and is fixedly connected with the displacement detection device, and the displacement transmission structure is used for transmitting the displacement of the mobile platform to the displacement detection device.
Further, a plurality of mounting grooves are formed in the platform base body, and the mounting grooves are formed in the outer side of the mobile platform and used for fixing the displacement detection device on the platform base body.
Further, the device also comprises a pre-tightening module, which is closely abutted against the displacement detection device and is used for applying pre-tightening force opposite to the moving direction of the moving platform to the displacement detection device so as to enable the displacement detection device to be in close contact with the moving platform.
Further, the pretensioning module comprises a pretensioning member, a spacer and an elastically compressible element; wherein the spacer is disposed between the pretensioning member and the elastically compressible member, and the other end of the elastically compressible member is in contact with the displacement detecting means.
Further, the method further comprises the following steps: the guide module is arranged between the output ends of the displacement amplification modules and connected with the mobile platform, and plays roles of guiding and supporting the displacement of the mobile platform.
The invention also provides a displacement detection method of the micro-motion platform, the mobile platform is fixedly connected with a plurality of displacement detection devices, any one of the displacement detection devices comprises an elastic piece and at least one group of strain gauges distributed along the length direction of the elastic piece, and the displacement detection device also comprises a strain measurement unit, a storage unit and a control unit; the displacement detection method of the displacement detection device for the mobile platform comprises the following steps:
calibrating to obtain the corresponding information of the electric signal and the displacement signal;
acquiring resistance change generated by strain and converting the resistance change into a strain electric signal;
and converting the strain electric signal into displacement based on the electric signal-displacement signal corresponding information.
Further, the method further comprises the following steps: and controlling the strain electric signal, and generating a corresponding displacement based on the electric signal-displacement signal corresponding information.
Further, the calibrating, obtaining the corresponding information of the electric signal and the displacement signal, includes: the displacement of the mobile platform is measured by means of a high-precision displacement sensor, a corresponding relation between the acquired displacement and the electric signal change of the strain measurement unit is established, and the corresponding relation is processed to obtain electric signal-displacement signal corresponding information.
The invention has the beneficial effects that:
1. the invention provides a micro-motion platform, wherein a platform substrate is manufactured by adopting integrated molding, and the micro-motion platform is simple in structure and easy to assemble;
2. the invention takes the combination of the elastic piece and the strain gauge as a displacement detection device to detect the displacement of the mobile platform, has convenient installation and easy integration, and reduces the equipment cost; meanwhile, the displacement detection device is also provided with a control unit, so that the displacement of the mobile platform can be accurately controlled;
3. the through holes are formed in the mobile platform, so that the heat dissipation device penetrates through the mobile platform, one end of the heat dissipation device is directly contacted with the imaging component, and the other end of the heat dissipation device is directly contacted with the shell, so that the heat dissipation efficiency inside the camera is improved;
4. the pre-tightening module applies pre-tightening force to the mobile platform in a pre-tightening piece-gasket-elastic compressible element mode, and meanwhile, reliable contact between the elastic piece and the mobile platform can be ensured, the dynamic performance of the system is improved, and the reliability of the displacement detection device is improved;
5. the displacement amplifying module adopts a diamond amplifying mechanism, namely a scott-russell amplifying mechanism, namely a lever amplifying mechanism, adopts reasonable layout, ensures the compactness of the platform, increases the bearing capacity of the platform, and simultaneously combines the use of a flexible hinge to obtain a higher stroke;
6. the invention can obtain the amplified displacement of each amplifying mechanism through the calculation process of the approximate amplification factor; meanwhile, according to the approximate magnification k, the relation between the output displacement of the micro-driver and the output displacement of the mobile platform can be clarified, so that the displacement detection device can conveniently change the displacement of the mobile platform by controlling the excitation signal of the micro-driver;
7. in the camera provided by the invention, the heat dissipation buffer parts are arranged at the contact parts of the heat dissipation device, the imaging component and the shell, so that the heat dissipation rate can be increased, and the contact friction can be reduced.
Drawings
FIG. 1 is a schematic overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a displacement detecting device according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of a pretensioning module in embodiment 1 of the present invention;
FIG. 4 is a schematic overall structure of embodiment 2 of the present invention;
FIG. 5 is a plan view of a platform base according to example 2 of the present invention;
FIG. 6 is an enlarged schematic view of FIG. 5 at a;
FIG. 7 is a schematic diagram of a displacement amplifying module for implementing displacement amplification in embodiment 2 of the present invention;
FIG. 8 is a schematic overall structure of embodiment 3 of the present invention;
fig. 9 is an exploded view of the camera in embodiment 4 of the present invention;
fig. 10 is a cross-sectional view of the camera in embodiment 4 of the present invention.
In the figure: 1. a platform base; 1-1, a platform mounting hole; 1-2, a displacement amplifying module; 1-2-1, a diamond amplifying mechanism; 1-2-2, scott-russell amplifying mechanism; 1-2-3, lever amplifying mechanism; 1-3, a guide module; 1-4, a mobile platform; 1-5, a displacement transmission structure; 1-6, a mounting groove; 1-7, through holes; 2. a micro-driver; 3. a displacement detection device; 3-1, a flexible board; 3-1-1, the left side of the flexible board; 3-1-2, the right side of the flexible board; 3-2, strain gauges; 4. a pre-tightening module; 4-1, pre-tightening screws; 4-2, a gasket; 4-3, a spring; 5. a housing; 5-1, a rear shell; 5-1-1, radiating fins; 5-2, front shell; 6. a heat conduction block; 7. an imaging assembly; 8. rectangular frame groove.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Example 1
As shown in fig. 1 to 3, the present embodiment proposes a micro-motion platform, which includes: the platform base body 1 is used as a main body for the motion and support of the micro-motion platform. In this embodiment, the platform base 1 is arranged symmetrically on the whole.
The platform base 1 is typically mounted on a precision vibration isolation device to reduce the disturbance of the displacement of the micro-motion platform by ambient vibrations. The platform substrate 1 is manufactured by integrated molding, such as wire cutting, 3D printing and the like. The platform base 1 is provided with a plurality of right-angle semicircular flexible hinge structures which allow local elastic deformation.
In this embodiment, the through holes 1-7 are provided on the mobile platform 1-4, so that the heat dissipating device can pass through the through holes and directly contact with the heat generating component, thereby improving heat dissipating efficiency.
The micro driver 2 is one of a piezoelectric driver, a magnetostriction driver and a micro motor, and the output of the micro driver is telescopic motion for driving the mobile platform 1-4 to move.
In this embodiment, the platform base 1 is provided with one micro-actuator 2 in each of the horizontal direction and the vertical direction.
The flexible hinge penetrates through the upper and lower surfaces of the platform base body 1, and is symmetrically arranged along the vertical direction and the horizontal direction to form a rectangular frame groove 8. The micro-driver 2 is arranged in the rectangular frame groove 8, and two ends of the micro-driver 2 respectively prop against the outer sides of the movable platforms 1-4.
The displacement transmission structure 1-5 is arranged on the mobile platform 1-4 and is used for transmitting the displacement of the mobile platform 1-4 to the displacement detection device 3. Preferably, the displacement transmission structure 1-5 is in a boss shape, so that the movable platform 1-4 is conveniently connected with the flexible board 3-1.
The plurality of mounting grooves 1-6 are arranged on the outer sides of the movable platforms 1-4 and are used for placing the displacement detection devices 3, so that the displacement detection devices 3 are fixedly connected with the platform base body 1. Preferably, in this embodiment, two mounting grooves 1-6 are provided above the platform base 1, for fixing the left side 3-1-1 of the flexible board and the left side 3-1-2 of the flexible board, respectively, so that the displacement detection device 3 can detect the displacement of the mobile platform 1-4 in the vertical direction; similarly, two mounting grooves 1-6 are formed in the left side of the platform base body 1 and are used for fixedly connecting the displacement detection device 3 and the platform base body 1, so that the displacement detection device 3 located on the left side of the platform base body 1 can detect the displacement of the mobile platform 1-4 in the horizontal direction. Wherein the vertical direction is perpendicular to the horizontal direction.
The displacement detection devices 3 are fixedly arranged in the mounting grooves 1-6 and fixedly connected with the platform base body 1 and are used for detecting the displacement of the movable platform 1-4.
Preferably, the displacement detecting means 3 may also be arranged at any one or any combination of the sides, above, and below the moving platform 1-4, and the number of the displacement detecting means 3 may be increased to two or more.
As shown in fig. 2, the displacement detecting device 3 includes an elastic body and at least one set of strain gages 3-2 distributed along the length direction of the elastic body. The elastic body is a structure which can be elastically deformed, preferably, the elastic body is a plate-shaped structure with the length-thickness ratio of more than 2 or a bending beam structure with radian. In the embodiment, the elastic body is a flexible board 3-1, and the flexible board 3-1 is of a plate-shaped structure with the length-thickness ratio more than 2.
The displacement detection device 3 is fixedly connected with the platform base body 1 and the movable platform 1-4 respectively. In the embodiment, the corresponding position of the platform base body 1 is provided with the mounting groove 1-6, and the left side 3-1-1 of the flexible board and the right side 3-1-2 of the flexible board are respectively and fixedly connected with the platform base body 1 in a dispensing mode. The strain gauge 3-2 comprises two groups of strain grids distributed along the length direction of the flexible plate 3-1 and two groups of strain grids distributed along the width direction of the flexible plate 3-1, and the strain grids are symmetrically arranged on the surface of the flexible plate 3-1 to form a full-bridge measuring loop, so that the sensitivity of the strain gauge 3-2 to strain can be improved. The middle part of the flexible board 3-1 is fixedly connected with the movable platform 1-4 in a manner of dispensing, fastening, such as screws, or through one or more intermediate adapters. In this embodiment, the middle part of the flexible board 3-1 is fixedly connected with the displacement transmission structure 1-5 by dispensing.
The displacement detection device 3 further comprises a strain measurement unit and a storage unit. The strain gauge 3-2 is externally connected with a strain measurement unit, and the strain measurement unit converts resistance change caused by strain grid deformation into an electric signal. The electric signal is transmitted to a storage unit, the storage unit stores the corresponding information of the electric signal and the displacement signal, and the displacement of the mobile platform 1-4 can be obtained after conversion. In particular, the memory unit of the displacement detection device 3 is connected to a control unit for varying the excitation signal of the micro-actuator 2.
The displacement detection method of the micro-motion platform in the embodiment specifically comprises the following steps:
the displacement detection device 3 is subjected to at least one calibration procedure before use, so as to write in the corresponding information of the electric signal and the displacement signal in the storage unit. The calibration flow measures the displacement of the mobile platform 1-4 by means of a high-precision displacement sensor, processes the corresponding relation between the acquired displacement and the electric signal change of the strain measurement unit, and writes the corresponding information of the electric signal-displacement signal into the storage unit, namely the calibration is finished.
The strain gauge 3-2 is externally connected with a strain measurement unit, and the strain measurement unit converts resistance change caused by strain grid deformation into an electric signal. The electric signal is transmitted to a storage unit, and the displacement of the mobile platform 1-4 is obtained based on the corresponding information of the electric signal-displacement signal stored in the storage unit.
In addition, the storage unit of the displacement detection device 3 is connected with a control unit, and the control unit can control the excitation signal of the micro-driver 2 so as to change the motion state and the displacement of the mobile platform 1-4.
The method specifically comprises the following steps: the control unit controls the excitation signal of the micro driver 2 to enable the resistance generated by the strain gauge to change, and controls the strain electric signal by controlling the resistance change value generated by the excitation signal based on the corresponding information of the electric signal and the displacement signal in the storage unit; further, the desired displacement of the mobile platform 1-4 is caused.
The pre-tightening module 4 is closely abutted against the displacement detection device 3 and is used for applying pre-tightening force opposite to the moving direction of the moving platform 1-4 to the displacement detection device 3 so as to enable the displacement detection device 3 to be in close contact with the moving platform 1-4. The pretensioning module 4 comprises a pretensioning member, a spacer 4-2 and an elastically compressible element. Wherein the spacer 4-2 is arranged between the pretensioning member and the elastically compressible element, the other end of which is in contact with the displacement detecting means 3.
In the present embodiment, in the pretensioning module 4, the pretensioning member is a pretensioning screw 4-1, and the elastic compressible element is a spring 4-3. Preferably, the spring 4-3 may be replaced with a belleville spring, a resilient washer, or the like.
As shown in FIG. 3, the pretension screw 4-1 passes through a screw hole formed in the platform base body 1 to contact with one side of the gasket 4-2, the other side of the gasket 4-2 is provided with a spring 4-3, and the spring 4-3 contacts with the flexible plate 3-1 in the displacement detection device 3. When the pre-tightening screw 4-1 is screwed in, the spring 4-3 is compressed and is applied to the movable platform 1-4 to pre-tighten the movable platform 1-4, and the direction of the pre-tightening force is opposite to the displacement direction of the movable platform 1-4. The pretension module 4 applies pretension force to the mobile platform 1-4 in a pretension screw-gasket-spring mode, meanwhile, reliable contact between the flexible board 3-1 and the mobile platform 1-4 can be guaranteed, dynamic performance of the system is improved, and reliability of detection results of the displacement detection device 3 is improved.
The working principle of the micro-motion platform in the embodiment is as follows:
when an excitation signal is given to the micro-driver 2, a certain thrust is generated in the axial direction, the rectangular frame groove 8 deforms under the action of the thrust, and the deformation promotes the moving platform 1-4 to displace a certain distance along the driving direction of the micro-driver 2, so that the moving platform 1-4 displaces to further generate a tensile force F on the flexible board 3-1.
Because the length-thickness ratio of the flexible board 3-1 is greater than 2, the rigidity is lower, bending deformation occurs under the action of the tensile force F, tensile strain occurs along the length direction, and then the tensile strain is perceived by the strain gauge 3-2 arranged on the surface, and the strain measurement unit converts resistance change caused by strain grid deformation into an electric signal. The electric signal is transmitted to a storage unit, and the displacement of the mobile platform 1-4 is obtained based on the corresponding information of the electric signal-displacement signal stored in the storage unit, so that the displacement detection device 3 detects the displacement of the mobile platform 1-4 in real time.
Further, the excitation signal is changed by the control unit of the displacement detecting device 3, so that the displacement amount of the moving platform 1-4 reaches a desired value.
Example 2
As shown in fig. 4 and 5, this embodiment proposes a micro-motion platform provided with a displacement amplifying module 1-2 on the basis of embodiment 1. The displacement amplifying module 1-2 is used for amplifying the output displacement of the micro driver 2 and transmitting the output displacement to the mobile platform 1-4, so that the compactness of the platform is ensured and a higher stroke is obtained.
Preferably, the platform base 1 is provided with a platform mounting hole 1-1 for fixing the platform base 1 to the precision vibration isolation device.
In this embodiment, a through hole 1-7 is formed in the mobile platform 1-4 and is used for penetrating through the heat dissipating device, so that the heat dissipating device is in direct contact with the heat generating component, and heat dissipating efficiency is improved.
The moving platform 1-4 is provided with a displacement transmission structure 1-5 for transmitting the displacement of the moving platform 1-4 to the displacement detection device 3. Preferably, the displacement transmission structure 1-5 is in a boss shape, so that the movable platform 1-4 is convenient to be connected with the displacement detection device 3. The specific structure and method principle of the displacement detection device 3 are the same as those of the displacement detection device 3 in embodiment 1.
The displacement detection means 3 are provided with corresponding pretensioning modules 4. The pre-tightening module 4 is closely abutted against the displacement detection device 3 and is used for applying pre-tightening force opposite to the moving direction of the moving platform 1-4 to the displacement detection device 3 so as to enable the displacement detection device 3 to be in close contact with the moving platform 1-4. The specific structure and method principle of the pretensioning module 4 are the same as those of the pretensioning module 4 in embodiment 1.
The platform base body 1 is also provided with a displacement amplifying module 1-2. The displacement amplification module 1-2 includes: the device comprises a first-stage amplifying mechanism, a second-stage amplifying mechanism and a third-stage amplifying mechanism; the output end of the primary amplifying mechanism is connected with the input end of the secondary amplifying mechanism, the output end of the secondary amplifying mechanism is connected with the input end of the tertiary, and the output end of the tertiary is connected with the mobile platform to form the tertiary displacement amplifying mechanism.
In the embodiment, the primary amplifying mechanism is a diamond amplifying mechanism 1-2-1, the secondary amplifying mechanism is a scott-russell amplifying mechanism 1-2-2, and the tertiary amplifying mechanism is a lever amplifying mechanism 1-2-3. The connection relation between the amplifying mechanisms in the displacement amplifying module 1-2 is as follows: the output end of the diamond amplifying mechanism 1-2-1 is connected with the input end of the scott-russell amplifying mechanism 1-2-2, the output end of the scott-russell amplifying mechanism 1-2-2 is connected with the input end of the lever amplifying mechanism 1-2-3, and the output end of the lever amplifying mechanism 1-2-3 is connected with the mobile platform 1-4 to form a three-stage displacement amplifying mechanism.
In this embodiment, the displacement amplifying modules 1-2 are symmetrically arranged. The displacement amplifying module 1-2 comprises 1 diamond amplifying mechanism 1-2-1, 2 scott-russell amplifying mechanisms 1-2-2 and 2 lever amplifying mechanisms 1-2-3. The output ends at two sides of the diamond amplifying mechanism 1-2-1 are respectively connected with the input ends of the scott-russell amplifying mechanism 1-2-2, the output end of the scott-russell amplifying mechanism 1-2-2 is connected with the input end of the lever amplifying mechanism 1-2-3, and the output end of the lever amplifying mechanism 1-2-3 is connected with the moving platform 1-4, so that a three-level displacement amplifying mechanism is formed.
A displacement amplification method of a micro-motion platform is characterized in that a displacement amplification module 1-2 is arranged and is respectively connected with a micro-driver 2 and a mobile platform 1-4, so that the displacement amplification of the mobile platform 1-4 is realized. The displacement amplifying module 1-2 is a primary amplifying mechanism, a secondary amplifying mechanism and a tertiary amplifying mechanism, and the specific amplifying method comprises the following steps: after being electrified, the micro-driver 2 outputs displacement to the primary amplifying mechanism; the first-stage amplification is carried out through a first-stage amplification mechanism, and the first-stage amplification displacement is transferred to a second-stage amplification mechanism;
the second-stage amplification is carried out through a second-stage amplification mechanism, and the second-stage amplification displacement is transferred to a third-stage amplification mechanism;
three-stage amplification is carried out by a three-stage amplification mechanism, and three-stage amplification displacement is transmitted to the mobile platform 1-4, so that the mobile platform 1-4 moves according to the three-stage amplification displacement;
wherein the displacement output by the micro-actuator 2 is flexibly transmitted between the three amplifying mechanisms and inside each amplifying mechanism.
In this embodiment, the displacement amplification method of the micro-motion platform is realized based on the plane three-stage amplification mechanism of the diamond amplification mechanism, scott-russell amplification mechanism and lever amplification mechanism, and specifically comprises the following steps:
in this embodiment, the displacement amplification modules 1-2 are considered to be symmetrically arranged, and a method will be described on one side thereof. As shown in fig. 6 and 7, P is a displacement input terminal connected to the output terminal of the micro driver 2. Since the output of the micro-actuator 2 is a telescopic motion, the displacement of the displacement input P is in the y-direction. The displacement amplifying module 1-2 connected with the micro driver 2 is composed of flexible hinges, and the displacement amplifying process and method are described by the displacement change of the node of each flexible hinge in the embodiment. A to J represent flexible hinge joints, and the flexible hinge deforms under the action of external force to drive the joints A to J to twist and translate. The node A, B, C is a flexible hinge node of the diamond amplifying mechanism 1-2-1, the node B is connected with the node D of the scott-russell amplifying mechanism 1-2-2, the node D, E, F, G is a flexible hinge node of the scott-russell amplifying mechanism 1-2-2, the node G is connected with the node H of the lever amplifying mechanism 1-2-3, and the node H, I, J is a flexible hinge node of the lever amplifying mechanism 1-2-3. Among the above nodes, the node B, D, G, H, J is a right-angle flexible hinge node, and the remaining nodes are all semicircular flexible hinge nodes.
When the flexible hinge is slightly displaced and each node is equivalent to a connecting rod structure, the simplified connection relationship of each node is shown in fig. 7, a circle represents the hinge mechanism, and a line segment between the nodes represents the connecting rod mechanism.
The specific method comprises the following steps: after the micro-actuator 2 is electrified, a micro-displacement in the y direction is generated, so that the long axis of the diamond amplifying mechanism 1-2-1 is lengthened, the short axis is shortened, wherein the short axis is shortened (namely, the displacement x of the node B along the x direction B ) Greater than the elongation of the long axis (i.e. displacement y of node A in the y-direction A ) This is the first stage displacement amplification; the short axis shortening of diamond magnification 1-2-1 is transferred to scott-russell magnification 1-2-2 by the flexible hinge between nodes BD. Wherein the x direction and the y direction are perpendicular to each other.
The scott-russell amplifying structure 1-2-2 is driven to move by the acting force in the x direction transmitted by the flexible hinge between the nodes BD, so that the included angle between the GD and the BD is changed, and the second-stage displacement amplification is realized; at the same time, the displacement of the D point in the x direction (the displacement of the node D along the x direction is x D ) Converted into y-direction movement, namely G point outputs y-direction movementThe displacement of the node G along the y direction is y G ) Changing the motion direction of the input end of the scott-russell amplifying structure 1-2-2; the G point transmits the secondary amplifying displacement to the lever amplifying mechanism 1-2-3.
HG in the lever amplifying mechanism 1-2-3 is displaced in the y direction (displacement of the node H in the y direction is y H ) The displacement of the tail end of the long arm of force in the y direction is larger than the output displacement of the short shaft of the upper stage by taking the point H as a fulcrum for coiling, the point J outputs the displacement (the displacement of the joint J in the y direction is y) J ) Thereby, a third level of amplification of the displacement is achieved by the lever principle.
The displacement output by the micro-driver 2 is flexibly transmitted between the three-stage amplifying mechanisms and inside each amplifying mechanism.
In the design of the displacement amplifying mechanism, firstly, a mechanism motion diagram is constructed through a rigid member design method, the accuracy of motion transmission of the rigid mechanism is ensured, and then, a proper flexible hinge is selected to replace the rigid member, so that the design of the flexible amplifying mechanism is completed. Therefore, reasonable layout is adopted, and a three-stage amplifying mechanism is combined with the use of a flexible hinge, so that the compactness of the platform is ensured and a higher stroke is obtained.
In the above amplification method, the calculation process of the approximate amplification factor k of the displacement amplification module 1-2 is specifically as follows:
simultaneously, the approximate magnification of the displacement amplification modules 1-2 is higher than that of the combination
Wherein L is AB Representing connecting rodsLength L of (2) DG Representing connecting rodsLength L of (2) IJ Representing connecting rodsLength L of (2) IH Representing connecting rodsIs a length of (2); y is A Representing the displacement of node A along the y direction, y G Representing the displacement of the node G along the y direction, y J Represents the displacement of the joint J along the y direction, y H Representing the displacement of the node H along the y direction; x is x B Representing the displacement of node B along x direction, x D Representing the displacement of the node D along the x direction; alpha and beta are respectively connecting rodsIncluded angle with y direction, connecting rodAn included angle between the two layers and the x direction,、representing minor variations in alpha, beta.
In this embodiment, the amplification displacement of each amplification mechanism can be estimated according to the calculation process of the approximate amplification factor k; meanwhile, according to the approximate magnification k, the relation between the output displacement of the micro-driver 2 and the output displacement of the mobile platform 1-4 can be clarified, so that the displacement detection device 3 can conveniently change the displacement of the mobile platform 1-4 by controlling the excitation signal of the micro-driver 2.
The output end of the displacement amplification module 1-2 is connected with the mobile platform 1-4, a plurality of straight beams are symmetrically arranged on two sides of the mobile platform 1-4, and the straight beams are connected with the mobile platform 1-4 and the platform base body 1 to form the guide module 1-3. The guiding module 1-3 plays a role in guiding and supporting the displacement of the mobile platform 1-4. The guide modules 1-3 are of straight beam type structures and are respectively connected with the movable platform 4 and the outer frame of the platform base body 1 through right-angle flexible hinges.
Preferably, the guide modules 1-3 are configured in a parallel four-bar structure, so that the mobile platform 1-4 outputs a strict translational displacement without parasitic displacement.
The use principle of the micro-motion platform in the embodiment is as follows:
when an excitation signal is given to the micro-actuator 2, it generates thrust and displacement to the displacement amplification module 1-2.
In the displacement amplifying module 1-2, the input end of the diamond amplifying mechanism 1-2-1 is connected with the micro driver 2 to receive the displacement. The long axis of the diamond-shaped amplifying mechanism 1-2-1 is elongated, the short axis is shortened, wherein the short axis is shortened by an amount larger than the elongation of the long axis, and the first-stage displacement amplification is realized; the short axis shortening of diamond magnification 1-2-1 is transferred to scott-russell magnification 1-2-2 by the flexible hinge between nodes BD.
The scott-russell amplifying structure 1-2-2 is driven to move by the acting force in the x direction transmitted by the flexible hinge between the nodes BD, so that the included angle beta between the GD and the BD is changed, and the second-stage displacement amplification is realized; meanwhile, the displacement in the x direction input by the D point is converted into the motion in the y direction, namely the motion in the y direction output by the G point, and the motion direction of the input end of the scott-russell amplifying structure 1-2-2 is changed; the G point transmits the secondary amplifying displacement to the lever amplifying mechanism 1-2-3.
In the lever amplifying mechanism 1-2-3, HG is rotated by taking the point H as a fulcrum in the y direction, the displacement of the tail end of a long arm of force in the y direction is larger than the output displacement of the short shaft of the upper stage, and the point J outputs the displacement, so that the third stage of amplifying of the displacement is realized through the lever principle.
The displacement is amplified by the multistage displacement of the displacement amplifying module 1-2 and then transmitted to the mobile platform 1-4, and the displacement of the mobile platform 1-4 further generates a tensile force F on the flexible board 3-1.
Because the length-thickness ratio of the flexible board 3-1 is greater than 2, the rigidity is lower, bending deformation occurs under the action of the tensile force F, tensile strain occurs along the length direction, and then the tensile strain is perceived by the strain gauge 3-2 arranged on the surface, and the strain measurement unit converts resistance change caused by strain grid deformation into an electric signal. The electric signal is transmitted to a storage unit, and the displacement of the mobile platform 1-4 is obtained based on the corresponding information of the electric signal-displacement signal stored in the storage unit.
In addition, the storage unit of the displacement detection device 3 is connected with a control unit, and the control unit can change the excitation signal of the micro-driver 2 so as to change the motion state and the displacement of the mobile platform 1-4.
Example 3
As shown in fig. 8, this embodiment proposes a micro-motion platform capable of being displaced in both the horizontal direction and the vertical direction on the basis of embodiment 2.
In this embodiment, the platform base 1 is provided with a micro-actuator 2, a displacement amplifying module 1-2 and a displacement detecting device 3 in both the horizontal direction and the vertical direction, so that the displacement amplification and displacement detection in the direction are completed.
Any of the displacement amplification modules 1-2 of the present embodiment includes: 1 diamond amplifying mechanism 1-2-1, 2 scott-russell amplifying mechanisms 1-2-2, 2 lever amplifying mechanisms 1-2-3. The output ends at two sides of the diamond amplifying mechanism 1-2-1 are respectively connected with the input ends of the scott-russell amplifying mechanism 1-2-2, the output end of the scott-russell amplifying mechanism 1-2-2 is connected with the input end of the lever amplifying mechanism 1-2-3, and the output end of the lever amplifying mechanism 1-2-3 is connected with the moving platform 1-4, so that a three-level displacement amplifying mechanism is formed. The specific structure and method principle are the same as those of the embodiment 2.
The specific structure and method principle of any one of the displacement detecting devices 3 in this embodiment are the same as those of the displacement detecting device 3 in embodiment 1.
Wherein the displacement detection devices 3 in the horizontal direction or the vertical direction are respectively provided with a pre-tightening module 4. The pre-tightening module 4 is closely abutted against the displacement detection device 3 and is used for applying pre-tightening force opposite to the moving direction of the moving platform 1-4 to the displacement detection device 3 so as to enable the displacement detection device 3 to be in close contact with the moving platform 1-4. The specific structure and method principle of the pretensioning module 4 are the same as those of the pretensioning module 4 in embodiment 1.
A through hole 1-7 is formed in the mobile platform 1-4 and used for penetrating through the heat radiating device, so that the heat radiating device is in direct contact with the heating component, and the heat radiating efficiency is improved.
The moving platform 1-4 is provided with a displacement transmission structure 1-5 in the vertical direction and the horizontal direction for transmitting the displacement of the moving platform 1-4 to the displacement detection device 3. Preferably, the displacement transmission structure 1-5 is in a boss shape, so that the movable platform 1-4 is convenient to be connected with the displacement detection device 3.
The difference between the micro-motion platform in this embodiment and embodiment 2 is that: in this embodiment, the moving platform 1-4 can displace in the horizontal direction and the vertical direction, and the micro driver 2, the displacement amplifying module 1-2, the displacement detecting device 3 and the pre-tightening module 4 are respectively arranged in the horizontal direction and the vertical direction. In addition, the matched arrangement in the horizontal direction and the vertical direction simultaneously limits the moving direction and the moving mode of the moving platform 1-4, so that the moving platform 1-4 can only generate translational displacement of a set displacement amount in the set direction, and therefore, a guide module is not required to be arranged outside the moving platform 1-4 in the platform base body 1.
The invention also proposes a camera comprising:
a housing;
the micro-motion platform is fixedly arranged on the inner side of the shell, a moving platform for driving the imaging component to move is arranged in the middle of the micro-motion platform, and a through hole for the heat dissipation device to pass through is formed in the moving platform;
the imaging assembly is fixedly arranged on the mobile platform and is used for acquiring images;
and the heat dissipation device is arranged between the micro-motion platform and the shell, penetrates through a through hole arranged on the moving platform, is in direct contact with the imaging assembly and is used for dissipating heat of the imaging assembly.
The installation mode of the heat dissipating device is specifically as follows:
mode one: the heat dissipation device is fixedly arranged on the mobile platform and synchronously moves along with the mobile platform; and the contact parts of the heat dissipation device, the imaging assembly and the inner side of the shell are respectively provided with a heat dissipation buffer piece for accelerating the heat dissipation rate and reducing contact friction.
Mode two: the heat abstractor is fixedly connected with the inner side of the shell, and is specifically divided into two cases:
1. the heat dissipation device is fixedly arranged on the inner side of the shell, penetrates through a through hole formed in the mobile platform, is in direct contact with the imaging component and is used for guiding out heat of the imaging component. And the contact parts of the heat dissipation device, the imaging assembly and the inner side of the shell are respectively provided with a heat dissipation buffer piece for accelerating the heat dissipation rate and reducing contact friction.
2. The heat dissipating device and the inner side of the shell are integrally designed, so that the heat dissipating device penetrates through a through hole formed in the mobile platform and is in direct contact with the imaging assembly 7, and the heat dissipating device is used for dissipating heat of the imaging assembly 7. And a heat dissipation buffer piece for accelerating the heat dissipation rate and reducing the contact friction is arranged at the contact position of the heat dissipation device and the imaging assembly.
Wherein, the heat dissipation buffer piece is a heat conduction interface material.
Preferably, a refrigerating device is further arranged in the camera and is installed at any end of the heat dissipation device for assisting the heat dissipation of the heat dissipation device.
The mounting mode of the refrigerating device is as follows:
the refrigerating device is arranged on the inner side of the shell, so that the refrigerating surface of the refrigerating device is in contact with the heat radiating device, the heating surface of the refrigerating device is directly in contact with the inner side of the shell, the position of the heating surface corresponds to the position of the heat radiating fins arranged on the outer side of the shell, the heat radiating path is shortened, the heat radiation of the refrigerating device is facilitated, and the refrigerating temperature of the refrigerating device is lower.
Or the refrigerating device is arranged between the imaging component and the heat radiating device, the refrigerating surface of the refrigerating device is contacted with the imaging component, and the heating surface is contacted with the heat radiating device, so that heat generated by the imaging component can be conducted to the greatest extent, heat dissipation is reduced, and heat radiating efficiency is improved.
Example 4
As shown in fig. 9 and 10, the present embodiment further proposes a camera including:
the shell 5 comprises a rear shell 5-1 and a front shell 5-2, wherein the rear shell 5-1 is provided with a plurality of radiating fins 5-1-1. An imaging component 7, a micro-motion platform and a heat dissipation device are sequentially installed in the shell. The micro-motion platform is the micro-motion platform described in the above embodiment, or the micro-motion platform formed by combining and modifying the contents described in the above embodiment. The micro stage in this embodiment is the micro stage described in embodiment 3.
In this embodiment, the heating component inside the camera is an imaging component 7, and the imaging component 7 is fixedly installed inside the front shell 5-2 and is used for acquiring images.
The micro-motion platform is fixedly arranged on the inner side of the shell 5, a moving platform for driving the imaging component 7 to move is arranged in the middle of the micro-motion platform, and a through hole for the heat dissipation device to pass through is formed in the moving platform.
The platform base body 1 of the micro-motion platform is arranged between the imaging assembly 7 and the heat dissipation device, wherein the moving platform is fixedly connected with the imaging assembly 7 and the heat dissipation device respectively and used for driving the imaging assembly 7 and the heat dissipation device to move. The mobile platform is only fixedly connected with the imaging component 7 and the heat dissipation device and is installed inside the camera shell, and other shell protection is not additionally arranged, so that the load of the mobile platform is small, and the dynamic response characteristic of the system is improved.
The heat radiating device is arranged on the inner side of the rear shell 5-1 and corresponds to the position of the heat radiating fin 5-1-1; and the heat dissipating device is fixedly connected with the mobile platform, passes through a through hole formed in the mobile platform, is in direct contact with the imaging component 7, and is used for guiding out heat of the imaging component 7, and transferring the heat in the camera to the heat dissipating fins 5-1-1. The heat dissipation device can be a heat conduction block or a heat conduction pipe and the like.
Preferably, the heat dissipating device of this embodiment is a heat conducting block 6. The heat conducting block 6 and the imaging assembly 7 and the rear shell 5-1 are both provided with heat dissipation buffer pieces, so that the heat dissipation rate can be increased, and the contact friction can be reduced. In this embodiment, the heat dissipation buffer member is a heat conductive gel.
Preferably, the contact parts of the heat conducting block 6 and the imaging component 7 and the rear shell 5-1 are respectively provided with heat conducting gel, so that on one hand, the heat conduction of the imaging component 7 and the heat conducting block 6 can be quickened, and on the other hand, the contact friction and the motion friction between the heat conducting block 6 and the imaging component 7 and the rear shell 5-1 are reduced by filling the heat conducting gel, and the heat conducting block 6, the imaging component 7 and the rear shell 5-1 are protected. The heat-conducting gel can be replaced by heat-conducting grease, heat-conducting pad and other heat-conducting interface materials.
Preferably, in the internal sealed space formed by the camera housing 5, a refrigerating device is further provided, mounted at either end of the heat dissipating device, for assisting the heat dissipating device in dissipating heat.
In this embodiment, the refrigerating device is a thermoelectric cooler (TEC) for suppressing the temperature rising speed of the imaging component 7 in the camera and controlling the working temperature of the internal sealed space where the imaging component 7 is located.
The TEC is arranged on the rear shell 5-1, so that the cooling surface of the TEC is in contact with the heat conducting block 6, the heating surface of the TEC is in direct contact with the rear shell 5-1 of the camera, the position of the heating surface corresponds to the position of the radiating fins arranged on the rear shell 5-1, the radiating path is shortened, the heat dissipation of the heat conducting block 6 is assisted, and the radiating efficiency of the imaging component 7 is improved.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. A camera, comprising:
a housing;
the micro-motion platform is fixedly arranged on the inner side of the shell, a moving platform for driving the imaging component to move is arranged in the middle of the micro-motion platform, and a through hole for the heat dissipation device to pass through is formed in the moving platform;
and the imaging assembly is fixedly arranged on the mobile platform.
2. The camera of claim 1, wherein the heat sink is fixedly mounted on the mobile platform for movement therewith in synchronization.
3. The camera of claim 1, wherein the heat sink is fixedly coupled to an inside of the housing.
4. A camera according to claim 2 or 3, wherein the heat dissipation device is provided with a heat dissipation buffer member for accelerating heat dissipation rate and reducing contact friction at the contact position between the heat dissipation device and the imaging assembly and the inner side of the housing.
5. The camera of claim 1, further comprising: and the refrigerating device is arranged at any end of the heat radiating device and is used for assisting the heat radiating device to radiate heat.
6. A micro-motion platform, comprising:
the micro-driver is connected with the mobile platform and outputs telescopic motion to drive the mobile platform to move;
the displacement detection devices are respectively and fixedly connected with the platform base body and the mobile platform and are used for detecting the displacement of the mobile platform; any displacement detection device comprises an elastic piece and at least one group of strain gauges distributed along the length direction of the elastic piece;
the mobile platform is provided with a through hole for the heat dissipating device to pass through.
7. The micro motion platform of claim 6, further comprising: a displacement amplification module, comprising: the device comprises a first-stage amplifying mechanism, a second-stage amplifying mechanism and a third-stage amplifying mechanism; the output end of the primary amplifying mechanism is connected with the input end of the secondary amplifying mechanism, the output end of the secondary amplifying mechanism is connected with the input end of the tertiary, and the output end of the tertiary is connected with the mobile platform to form the tertiary displacement amplifying mechanism.
8. The micro motion platform according to claim 6, wherein the moving platform is further provided with a displacement transmission structure, and the displacement transmission structure is fixedly connected with the displacement detection device and is used for transmitting the displacement of the moving platform to the displacement detection device.
9. The micro motion platform according to claim 6, wherein the platform base body is provided with a plurality of mounting grooves, and the mounting grooves are arranged on the outer side of the moving platform and are used for fixing the displacement detection device on the platform base body.
10. The micro motion platform according to claim 6, further comprising a pre-tightening module abutting against the displacement detection device for applying a pre-tightening force against the displacement detection device in a direction opposite to a moving direction of the moving platform, so that the displacement detection device is in close contact with the moving platform.
11. The micro motion platform according to claim 10, wherein the pre-tightening module comprises a pre-tightening member, a spacer and a resiliently compressible element; wherein the spacer is disposed between the pretensioning member and the elastically compressible member, and the other end of the elastically compressible member is in contact with the displacement detecting means.
12. The micro motion platform of claim 7, further comprising: the guide module is arranged between the output ends of the displacement amplification modules and connected with the mobile platform, and plays roles of guiding and supporting the displacement of the mobile platform.
13. The displacement detection method of the micro-motion platform is characterized in that the displacement detection device also comprises a strain measurement unit, a storage unit and a control unit; the displacement detection method of the displacement detection device for the mobile platform comprises the following steps:
calibrating to obtain the corresponding information of the electric signal and the displacement signal;
acquiring resistance change generated by strain and converting the resistance change into a strain electric signal;
and converting the strain electric signal into displacement based on the electric signal-displacement signal corresponding information.
14. The method of detecting displacement of a micro-motion platform according to claim 13, further comprising: and controlling the strain electric signal, and generating a corresponding displacement based on the electric signal-displacement signal corresponding information.
15. The method for detecting displacement of a micro-motion platform according to claim 13, wherein the calibrating to obtain the electrical signal-displacement signal correspondence information comprises: the displacement of the mobile platform is measured by means of a high-precision displacement sensor, a corresponding relation between the acquired displacement and the electric signal change of the strain measurement unit is established, and the corresponding relation is processed to obtain electric signal-displacement signal corresponding information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311093948.1A CN116916131A (en) | 2023-08-29 | 2023-08-29 | Camera and micro-motion platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311093948.1A CN116916131A (en) | 2023-08-29 | 2023-08-29 | Camera and micro-motion platform |
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