CN205262489U - Triaxial stabilized platform based on electronic jar is realized - Google Patents
Triaxial stabilized platform based on electronic jar is realized Download PDFInfo
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- CN205262489U CN205262489U CN201521053314.4U CN201521053314U CN205262489U CN 205262489 U CN205262489 U CN 205262489U CN 201521053314 U CN201521053314 U CN 201521053314U CN 205262489 U CN205262489 U CN 205262489U
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- ring
- base
- outer shroud
- load
- axle
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Abstract
The utility model relates to a triaxial stabilized platform based on electronic jar is realized, this triaxial stabilized platform are by electronic jar, base, outer loop, zhonghuan, inner ring, load frame, precision bearing and be used to lead subassembly etc. And constitute jointly, and wherein, even as an organic whole by a pair of precision bearing respectively between base and outer loop, outer loop and zhonghuan, zhonghuan and load frame, it is rotatory shafting mutually perpendicular on three dimensions separately, the rotation of the relative base of outer loop, the relative outer loop in zhonghuan, the relative zhonghuan of inner ring relies on the stroke of electronic jar to convert to realize for the angle changes, the utility model provides an utilization is used to lead subassembly direct measurement load angle and is changed, and the conversion of rethread angle realizes for electronic jar moving distance's method that the triaxial is stable. The load frame lies in the outside of revolving stage, has solved the problem that conventional stabilized platform is bulky, weight is big, the utility model discloses a stabilized platform can hang, erect and hang other carriers, have small, weight is little, the high serial advantage of precision.
Description
Technical field
The utility model relates to three-axle steady platform, especially relates to a kind of three-axis stabilization realizing based on electric cylinder flatPlatform. Stroke realize load rotate novel three-axle steady platform, be in traditional three-axle steady platform function for solve space little,Lightweight, precision is high and design improvement.
Background technology
Gyro-stabilized platform is called again stabilized platform, and it is feedback element that general reference adopts gyroscope, and the moving pedestal of isolation is to loadAngle disturbance, make the stable turntable of fixing inertial space again of load. When the back shaft of load is done the used time without any disturbance torque,Platform remains at relative inertness space on original position, angle. When load departs from original side because of disturbance torque effectWhen the position, attitude angle or the angular speed of the variation of gyro sensitive measurement axle, and feed back to motor through control system, produce by motorRaw compensating torque compensates disturbance torque, thereby makes load keep stable.
Current existing stabilized platform is can not implementation space little, the test of precision high capacity, and volume is large, stated accuracyThe shortcoming such as low, and can not realize turntable hanging, perpendicular being suspended on carrier.
Utility model content
The purpose of this utility model be overcome above shortcoming and provide a kind of based on electric cylinder realize three-axle steady platform,The test of can implementation space little, precision high capacity, has that volume is little, lightweight, stated accuracy advantages of higher, can realize turntable and hangExtension, perpendicular being suspended on carrier.
The purpose of this utility model is achieved in that
This device comprises electric cylinder, base, outer shroud, middle ring, interior ring and load block, wherein base be directly connected with outer shroud,Outer shroud is directly connected with middle ring, middle ring is directly connected with interior ring, and load block is connected with inner ring frame frame, and it relies on respectively each otherPrecision bearing is realized interconnection; Outer shroud relative to base, middle ring relative to outer shroud, interior ring relative in ring mutual rotate rely on respectively electronicThe variation of cylinder stroke is converted into angle and realizes, and the two ends of three electric cylinders are separately fixed at two mechanical structured members that mutually rotateOn; Load block, for dead load, can realize the stable and test of load;
The formation of outer shroud: base is fixed on carrier or horizontal plane by damper, and four-point contact ball is installed to the endSeat bearing position in, middle ring framework and four-point contact ball are connected by screw, outer shroud electric cylinder by hinge respectively with baseBe connected with middle ring framework, so just formed an outer ring structure;
The formation of middle ring: middle collar bearing I and middle collar bearing II are arranged on respectively on the bearing position of inner ring frame frame, ring in the whileAxle I and middle annulate shaft II insert respectively in collar bearing I and middle collar bearing II, and its one end is fixed on the axle installation position of middle ring frameworkUpper, middle ring electric cylinder is connected with middle ring framework and inner ring frame frame respectively by hinge, ring structure in stroke;
The formation of interior ring: inner axle holds I and inner axle and holds on the bearing position that II is arranged on respectively inner ring frame frame, inner axle IInserting respectively inner axle with inner axle II holds; Left load installing plate and right load installing plate respectively by screw respectively with interior ringAxle I and inner axle II are fixed, and on load mounting base, are connected with an end face of left load installing plate and right load installing plate; InRing electric cylinder is connected by articulated elements and load mounting base with inner ring frame frame, goes into interior ring structure, and inertial navigation assembly is arranged on negativeCarry on mounting base.
Described a kind of three-axle steady platform based on electric cylinder, is characterized in that, described outer shroud rotates relative to baseAngular range be-6 °～+ 6 °, the rotational angle range of the relative outer shroud of middle ring be-5 °～+ 5 °, interior ring relatively in the angle of rotation of ringDegree scope is-5 °～+ 5 °.
Compared with prior art, the utility model has the advantage of, the function of this device is to rely on stretching of three electric cylindersContracting realizes, and the effect that the linear telescopic stroke of electric cylinder by axle is changes into the anglec of rotation, has realized three-axle steady platformThe separate rotation of each axle. , the test of can implementation space little, precision high capacity, has that volume is little, lightweight, stated accuracyAdvantages of higher, can realize turntable hanging, perpendicular being suspended on carrier.
Brief description of the drawings
Fig. 1 is three-axle steady platform overall construction drawing of the present utility model.
Fig. 2 is the outer shroud structure chart in Fig. 1.
Fig. 3 is the loops composition in Fig. 1.
Fig. 4 is the interior loops composition in Fig. 1.
As shown in figure below:
1, damper 2, outer shroud electric cylinder 3, base
4, inertial navigation assembly 5, four-point contact ball 6, middle ring framework
7, middle ring electric cylinder 8, inner ring frame frame 9, middle collar bearing I
10, middle annulate shaft I 11, interior ring electric cylinder 12, middle annulate shaft II
13, middle collar bearing II 14, inner axle hold I 15, inner axle I
16, left load installing plate 17, load mounting base 18, right load installing plate
19, inner axle II 20, inner axle hold II.
Detailed description of the invention
Below in conjunction with embodiment and contrast accompanying drawing the utility model is described in further detail.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the present embodiment, comprises electric cylinder, base 3, outer shroud, middle ring, interior ring and loadFrame, wherein base 3 is directly connected with outer shroud, outer shroud is directly connected with middle ring, middle ring is directly connected with interior ring, load block and interior ringFramework connects, and it relies on respectively precision bearing to realize interconnection each other; The relative base 3 of outer shroud, the relative outer shroud of middle ring, interior ring phaseThe mutual rotation of centering ring relies on respectively the variation of electric cylinder stroke to be converted into angle and realizes, and the two ends of three electric cylinders respectivelyBe fixed on two mechanical structured members that mutually rotate; Load block, for dead load, can realize the stable and test of load;
The formation of outer shroud: base 3 is fixed on carrier or horizontal plane by damper 1, and four-point contact ball 5 is installed toIn base 3 bearing positions, middle ring framework 6 is connected by screw with four-point contact ball 5, and outer shroud electric cylinder 2 is distinguished by hingeBe connected with base 3 and middle ring framework 6, so just formed an outer ring structure;
The formation of middle ring: middle collar bearing I 9 and middle collar bearing II 13 are arranged on respectively on the bearing position of inner ring frame frame 8, simultaneouslyMiddle annulate shaft I 10 and middle annulate shaft II 12 insert respectively in collar bearing I 9 and middle collar bearing II 13, and its one end is fixed on middle ring frameOn the axle installation position of frame 6, middle ring electric cylinder 7 is connected with middle ring framework 6 and inner ring frame frame 8 respectively by hinge, loops in strokeStructure;
The formation of interior ring: inner axle holds I 14 and inner axle and holds on the bearing position that II 20 is arranged on respectively inner ring frame frame 8, inAnnulate shaft I 15 and inner axle II 19 are inserted respectively inner axle and are held; Left load installing plate 16 and right load installing plate 18 pass through respectivelyScrew is fixing with inner axle I 15 and inner axle II 19 respectively, on load mounting base 17 with left load installing plate 16 and right loadAn end face of installing plate 18 connects; Interior ring electric cylinder 11 is connected by articulated elements and load mounting base 17 with inner ring frame frame 8,Go into interior ring structure, inertial navigation assembly 4 is arranged on load mounting base 17.
The rotational angle range of the relative base of described outer shroud is-6 °～+ 6 °, the rotational angle range of the relative outer shroud of middle ringBe-5 °～+ 5 °, interior ring relatively in the rotational angle range of ring be-5 °～+ 5 °.
Working method: this stabilized platform is arranged on carrier by damper, carrier arbitrarily attitude changes stable flatThe attitude that load on platform produces changes can be by the inertial navigation assembly Real-time Feedback on load installing plate, i.e. inertial navigation assemblyThe relative value of output data is exactly the attitude variation of load; Turn the computing of straight line through over-angle by the angle output valve of inertial navigation,Calculate the movement travel of electric cylinder, then be converted into motor control signal, by controlling the rotation of motor, electric cylinder is stretchedThe fixing distance that contracts, reaches the effect that load holds position.
One end of interior ring electric cylinder is connected with load block, one end is connected with inner ring frame frame in addition, the stretching of interior ring electric cylinderStraight line and rotation axis system are orthogonal; One end of middle ring electric cylinder is connected with inner ring frame frame, one end is connected with middle ring framework in addition, middle ringFlexible straight line and the rotation axis system of electric cylinder are orthogonal; One end of outer shroud electric cylinder is connected with middle ring framework, one end and base in additionBe connected, flexible straight line and the rotation axis system of outer shroud electric cylinder are orthogonal. Three-axle steady platform in the present invention can be by the spiral shell of basePit hanging, perpendicular being suspended on other objects.
Advantage and the assembly method of the utility model to three-axle steady platform is illustrated, according to different design needAsk, can be applied to equally in two-axis stabilization platform and single axis stable platform.
Claims (2)
1. the three-axle steady platform based on electric cylinder, is characterized in that, comprise electric cylinder, base (3), outer shroud, middle ring, inRing and load block, wherein base (3) is directly connected with outer shroud, outer shroud is directly connected with middle ring, middle ring is directly connected with interior ring, negativeCarry frame and be connected with inner ring frame frame, it relies on respectively precision bearing to realize interconnection each other; The relative base of outer shroud (3), middle ring phaseTo outer shroud, interior ring relative in ring mutual rotate and rely on respectively the variation of electric cylinder stroke to be converted into angle to realize, three electricityThe two ends of moving cylinder are separately fixed on two mechanical structured members that mutually rotate; Load block is for dead load, can realize loadStablize and test;
The formation of outer shroud: base (3) is fixed on carrier or horizontal plane by damper (1), four-point contact ball (5) is installedIn base (3) bearing position, middle ring framework (6) is connected by screw with four-point contact ball (5), and outer shroud electric cylinder (2) is logicalCross hinge and be connected with base (3) and middle ring framework (6) respectively, so just formed an outer ring structure;
The formation of middle ring: middle collar bearing I (9) and middle collar bearing II (13) are arranged on respectively on the bearing position of inner ring frame frame (8), withTime in annulate shaft I (10) and middle annulate shaft II (12) insert respectively in collar bearing I (9) and middle collar bearing II (13), and its one end is solidFix on the axle installation position of ring framework (6), middle ring electric cylinder (7) by hinge respectively with middle ring framework (6) and inner ring frame frame(8) connect ring structure in stroke;
The formation of interior ring: inner axle holds I (14) and inner axle and holds II (20) and be arranged on respectively on the bearing position of inner ring frame frame (8),Inner axle I (15) and inner axle II (19) are inserted respectively inner axle and are held; Left load installing plate (16) and right load installing plate(18) fixing with inner axle I (15) and inner axle II (19) respectively by screw respectively, load mounting base (17) is upper and left negativeAn end face that carries installing plate (16) and right load installing plate (18) is connected; Interior ring electric cylinder (11) passes through with inner ring frame frame (8)Articulated elements is connected with load mounting base (17), goes into interior ring structure, and inertial navigation assembly (4) is arranged on load mounting base (17)On.
2. a kind of three-axle steady platform based on electric cylinder according to claim 1, is characterized in that, described outer shroud is relativeThe rotational angle range of base be-6 °～+ 6 °, the rotational angle range of the relative outer shroud of middle ring be-5 °～+ 5 °, interior ring relatively inThe rotational angle range of ring is-5 °～+ 5 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521053314.4U CN205262489U (en) | 2015-12-17 | 2015-12-17 | Triaxial stabilized platform based on electronic jar is realized |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521053314.4U CN205262489U (en) | 2015-12-17 | 2015-12-17 | Triaxial stabilized platform based on electronic jar is realized |
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| Publication Number | Publication Date |
|---|---|
| CN205262489U true CN205262489U (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521053314.4U Expired - Fee Related CN205262489U (en) | 2015-12-17 | 2015-12-17 | Triaxial stabilized platform based on electronic jar is realized |
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| Country | Link |
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| CN (1) | CN205262489U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379564A (en) * | 2016-10-10 | 2017-02-08 | 哈尔滨工业大学 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
-
2015
- 2015-12-17 CN CN201521053314.4U patent/CN205262489U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379564A (en) * | 2016-10-10 | 2017-02-08 | 哈尔滨工业大学 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
| CN106379564B (en) * | 2016-10-10 | 2017-05-17 | 哈尔滨工业大学 | Tri-axis micro-interference torque motion simulating device for ground simulation of space vehicles |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20161217 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |