CN208028720U - It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms - Google Patents
It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms Download PDFInfo
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- CN208028720U CN208028720U CN201820610646.5U CN201820610646U CN208028720U CN 208028720 U CN208028720 U CN 208028720U CN 201820610646 U CN201820610646 U CN 201820610646U CN 208028720 U CN208028720 U CN 208028720U
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- flexible ring
- voice coil
- load support
- support holder
- pedestal
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Abstract
The utility model is related to a kind of based on the two axis rotating mechanisms for scratching bar and flexible ring composition, the coiler part of the pedestal of the mechanism and four linear voice coil motors is connected, two opposite linear voice coil motor directions are parallel, and two adjacent linear voice coil motor directions are orthogonal；The magnet steel part of load support holder and four linear voice coil motors is connected；The marginal portion of flexible ring is fixed on pedestal, and central part is fixedly connected with load support holder, and the transition portion between marginal portion and central part is hanging, and flexible ring is trapped among centre by four linear voice coil motors；The center via that bar interts flexible ring is scratched, bottom is fixedly connected with pedestal, and top is fixedly connected with load support holder.
Description
Technical field
The utility model belongs to photoelectric platform technical field of mechanical design, be related to it is a kind of based on scratch bar and flexible ring composition
Two axis rotating mechanisms.
Background technology
Two axis rotating mechanisms can realize accurately and fast, low cross-linked two shaft rotation it is dynamic.Traditional two axis rotating mechanism parts
Design is all based on rigid mechanism, and realization movement is combined by kinematic pair connection rigid bar.In rigid mechanism exist friction and
Gap, and need to lubricate, extreme environment can not be adapted to, the precision of rotation is easily influenced by external disturbance.It is emerging in recent years
Some rotating mechanism designs based on compliant mechanism, realize movement mainly by the flexible deformation of flexibility structure, but can not solve
Two axis increase control difficulty there are cross-linked influence.
For system mechanics structure design, the main distinction is the design of support construction.Traditional mechanical support structure shape
Formula is that have shafting structure, has shafting structure inertia and moment of friction big, leading to control system, there are serious non-linear, systems
Low-response, the low disadvantage of control accuracy.Frequency response characteristic is required for existing electro-optical system high, it is desirable that system without friction,
It is small, it is compact-sized, and traditional rotating mechanism price, volume are big, equipment is complicated, it is difficult to safeguard.
Invention content
The technical problem to be solved by the present invention is to provide a kind of based on the two shaft rotation motivations for scratching bar and flexible ring composition
Structure, which can realize the low cross-couplings rotation of two axis, and have fast-response energy.
In order to solve the above-mentioned technical problem, the utility model based on scratch bar and flexible ring composition two axis rotating mechanism packets
Include pedestal, four linear voice coil motors, load support holder, flexible ring scratches bar；The coil part of pedestal and four linear voice coil motors
Divide and be connected, two opposite linear voice coil motor directions are parallel, and two adjacent linear voice coil motor directions are orthogonal；Load
The magnet steel part of holder and four linear voice coil motors is ask to be connected；The marginal portion of flexible ring is fixed on pedestal, center
Part is fixedly connected with load support holder, and the transition portion between marginal portion and central part is hanging, and four straight line sounds
Flexible ring is trapped among centre by circle motor；The center via that bar interts flexible ring is scratched, bottom is fixedly connected with pedestal, top and load
Lotus support holder is fixedly connected.
The utility model further includes flexible ring trim ring, and flexible ring trim ring is compressed the marginal portion of flexible ring by screw solid
Due on pedestal.
The bottom center of the load support holder has boss, which, which fixes with flexible ring central part with boss, connects
It connects.
The transition portion of the flexible ring offers the alternate internal rotor slot being evenly arranged of multiple circumferential directions and outer rotor slot；
Internal rotor slot is made of symmetrical left side branch section, right side branch section and major branch section, left side branch section, right side branch section and major branch section
It is interconnected in bottom；Outer rotor slot is made of left radial section, circumferential sections and right radial section, and left radial section passes through with right radial section
Circumferential sections transition is connected to；The left radial section and right radial section of outer rotor slot respectively with the left side of the adjacent internal rotor slot branch section and right side
Side shoot section interlocks.
Load support is fixed on load support holder, by four linear voice coil motors, scratch bar and flexible ring composition row
Cloth mounting means, it can be achieved that load orientation, pitch rotation；By scratching bar load can be limited with being fixedly connected for load support holder
The axial displacement of lotus support holder is fixedly connected with load support holder by flexible ring central part, can limit load support holder
It rotates in a circumferential direction；By the dislocation motion of flexible ring internal rotor slot and outer rotor slot, it can realize that two shaft rotations of load support holder are dynamic
And between centers uncoupling.
Advantageous effect：The flexible ring that the utility model uses has enough flexibilities to prevent driver in a work direction
Overload has enough rigidity to keep the fast-response energy of system on inoperative direction.Flexible ring has processing simultaneously
Simply, without mechanical friction, gapless, the advantages that in high precision and exempting to assemble.Have stroke big using voice coil motor driving, without stagnant
Afterwards, the low advantage of driving voltage is suitble to the application of wide-angle.Support construction including scratching bar and flexible ring is mounted on motor
In the lower section of installation frame and the space surrounded positioned at four linear voice coil motors, have the advantages that compact-sized, small.This
Utility model by flexible ring, scratch bar and four linear voice coil motors realize the movement of two axis, angle range is big, bandwidth of operation
It is high.
The utility model has the Grazing condition design of the rotational struction that two shaft rotations are moved, and effectively reduces the total quality of system
And volume, have center of rotation stable, big stroke, high-precision, high reliability, without key characteristics such as abrasion, low cross-couplings, from
And reduce the constraint to load；Due to reducing number of parts, assembly time is reduced, simplification machined process.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the utility model based on the two axis rotating mechanism exploded perspective views for scratching bar and flexible ring composition.
Fig. 2 is the sectional view of the utility model.
Fig. 3,4,5 are the right views of flexible ring.
Fig. 6 is four linear voice coil motor arrangements and orientation rotation direction schematic diagram.
Fig. 7 is four linear voice coil motor arrangements and pitch rotation direction schematic diagram.
In figure, 1.1, pedestal, 1.2, linear voice coil motor, 1.3, load support holder, 1.4, flexible ring, 1.5, scratch bar,
1.6, flexible ring trim ring, 2.1, rotor mounting hole, 2.2, internal rotor, 2.21, left side branch section, 2.22, right side branch section, 2.23, main
Branch section；2.3, outer rotor slot, 2.31, left radial section；2.32, circumferential sections；2.33, right radial section；2.4, stator fixing hole, 2.5,
Scratch bar via.
Specific implementation mode
As shown in Figure 1 and Figure 2, the utility model based on scratch bar and flexible ring composition two axis rotating mechanisms include
Pedestal 1.1, four linear voice coil motors 1.2, load support holder 1.3, flexible ring 1.4 scratch bar 1.5, flexible ring trim ring 1.6.
Pedestal 1.1 is connected by the coiler part 1.22 of screw and four linear voice coil motor 1.2a~1.2d, two phases
To linear voice coil motor direction it is parallel, two adjacent linear voice coil motor directions are orthogonal.Load support holder 1.3 passes through
The magnet steel part 1.21 of screw and four linear voice coil motor 1.2a~1.2d are connected.Load support holder 1.3 is used for the branch of load
Support is fixed.
8 mounting holes 2.4 of edge of flexible ring 1.4, flexible ring trim ring 1.6 is by 8 screws 3.1 by flexible ring
1.4 marginal portion is fixed on pedestal 1.1, and four linear voice coil motor 1.2a~1.2d enclose flexible ring 1.4
In centre；The middle section of pedestal 1.1 has the recess portion 1.11 for keeping flexible ring 1.4 hanging；The bottom center of load support holder 1.3
With boss 1.31,1.4 central part of flexible ring is fixedly connected by screw 3.3 with boss 1.31.
The center via that bar 1.5 interts flexible ring 1.4 is scratched, the male end of bottom is screwed in 1.1 center of pedestal, top
Female end be fixedly connected with load support holder 1.3 by screw 3.2.Support of the load support holder 1.3 for load is fixed,
The axial translation of load support holder 1.3 can be limited by scratching bar 1.5, and flexible ring 1.4 can limit the radial rotation of load support holder 1.3
Turn, to realize two axis decouplings effect.
As shown in Fig. 3,4,5, the flexible ring 1.4 is square or circle, offers circumferentially alternate be uniformly distributed thereon
Multiple internal rotor slots 2.2 and outer rotor slot 2.3；Internal rotor slot 2.2 is by left side branch section 2.21, right side branch section 2.22 and major branch section
2.23 are constituted, and left side branch section 2.21 and right side branch section 2.22 are symmetrical；Left side branch section 2.21, right side branch section 2.22 and master
Branch section 2.23 is interconnected in bottom arc transition；Outer rotor slot 2.3 is by left radial section 2.31, circumferential sections 2.32 and right radial section
2.33 are constituted, and left radial section 2.31 is connected to right radial section 2.33 by 2.32 transition of circumferential sections.The left radial direction of outer rotor slot 2.3
Section 2.31 and right radial section 2.33 interlock with the left side of adjacent internal rotor slot 2.2 branch section 2.21 and right side branch section 2.22 respectively.
Since internal rotor slot arc interlocks, the radial displacement in motion process can be effectively limited；Multiple internal rotor slots 2.2 and outer rotor
Slot 2.3 is uniformly distributed circumferentially cutting flexible ring 1.4, and when small angle range rotates, flexible annular variable is uniform, torsional moment
Approximately linear changes, and is conducive to stability contorting.
Internal internal rotor slot 2.2 and outer rotor slot 2.3 can be as needed load and rigidity requirement carry out shape cutting, it is interior
The quantity that entire circular inner is cut is inversely proportional by rotor slot 2.2 and outer rotor slot 2.3 with load and rigidity.
By the dislocation motion of internal rotor slot 2.2 and outer rotor slot 2.3, two shaft rotations of load support holder 1.3 may be implemented
Dynamic and between centers uncoupling effect.Internal rotor slot and outer rotor slot in flexible ring 1.4 can be as needed load and rigidity requirement
Carry out shape cutting.
In addition to this, flexible ring 1.4 can also arbitrarily cut into turning for the shapes such as spider mesh-shaped, arc-shaped, triangle
Pilot trench, these rotor slot shapes can limit load support holder and rotate in a circumferential direction, and two shaft rotations of realization load support holder are moved and between centers
Uncoupling.But that there are rigidity is weaker for these shapes, radial power limit is insufficient, when torsion the shortcomings of state labile, compares it
Under, using shape shown in flexible ring 1.4 Fig. 3,4,5, have rigidity suitable, the advantages that radial power limit is strong, and twisting states are stablized.
The utility model by four linear voice coil motors, scratch bar and flexible ring composition arrangement mounting means, it can be achieved that
The rotor for controlling voice coil motor realizes orientation, pitch rotation.
As shown in Figure 6 and Figure 7.
The first, the magnet steel of the control two neighboring linear voice coil motor in left is moved by vertical plane outward direction, and control is right
The magnet steel of the two neighboring linear voice coil motor in side by vertical plane, move inwards by direction, and turning for azimuth direction can be implemented separately
It is dynamic.
The second, the rotor of the two neighboring linear voice coil motor in control top is moved by vertical plane outward direction, under control
The magnet steel of the two neighboring linear voice coil motor in side by vertical plane, move inwards by direction, and turning for pitch orientation can be implemented separately
It is dynamic.
Obviously, above-mentioned implementation is only intended to clearly illustrate example, and does not limit the embodiments.
For those of ordinary skill in the art, other not similar shapes can also be made on the basis of the above description
The variation or variation of formula.There is no necessity and possibility to exhaust all the enbodiments.And it thus amplifies out aobvious and easy
Among the protection domain that the variation or variation seen are created still in the utility model.
Claims (4)
1. a kind of based on the two axis rotating mechanisms for scratching bar and flexible ring composition, it is characterised in that including pedestal (1.1), four straight lines
Voice coil motor (1.2), load support holder (1.3), flexible ring (1.4) scratch bar (1.5)；Pedestal (1.1) and four straight line voice coil electricity
The coiler part (1.22) of machine is connected, and two opposite linear voice coil motor directions are parallel, two adjacent linear voice coil motors
Direction is orthogonal；Load support holder (1.3) and the magnet steel part (1.21) of four linear voice coil motors are connected；Flexible ring
(1.4) marginal portion is fixed on pedestal (1.1), and central part is fixedly connected with load support holder (1.3), edge part
Divide the transition portion between central part hanging, and flexible ring (1.4) is trapped among centre by four linear voice coil motors；Scratch bar
(1.5) intert the center via of flexible ring (1.4), bottom is fixedly connected with pedestal (1.1), top and load support holder
(1.3) it is fixedly connected.
2. according to claim 1 based on the two axis rotating mechanisms for scratching bar and flexible ring composition, it is characterised in that further include
The marginal portion of flexible ring (1.4) is fixed in pedestal by flexible ring trim ring (1.6), flexible ring trim ring (1.6) by screw
(1.1) on.
3. according to claim 2 based on the two axis rotating mechanisms for scratching bar and flexible ring composition, it is characterised in that described
The bottom center of load support holder (1.3) has a boss (1.31), the boss (1.31) and flexible ring (1.4) central part with it is convex
Platform (1.31) is fixedly connected.
4. according to claim 1 based on the two axis rotating mechanisms for scratching bar and flexible ring composition, it is characterised in that described
The transition portion of flexible ring (1.4) offers the alternate internal rotor slot (2.2) being evenly arranged of multiple circumferential directions and outer rotor slot
(2.3)；Internal rotor slot (2.2) is by symmetrical left side branch section (2.21), right side branch section (2.22) and major branch section (2.23)
It constitutes, left side branch section (2.21), right side branch section (2.22) are interconnected with major branch section (2.23) in bottom；Outer rotor slot (2.3)
It is made of left radial section (2.31), circumferential sections (2.32) and right radial section (2.33), left radial section (2.31) and right radial section
(2.33) it is connected to by circumferential sections (2.32) transition；The left radial section (2.31) and right radial section (2.33) of outer rotor slot (2.3)
It interlocks respectively with the left side of adjacent internal rotor slot (2.2) branch section (2.21) and right side branch section (2.22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610646.5U CN208028720U (en) | 2018-04-26 | 2018-04-26 | It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610646.5U CN208028720U (en) | 2018-04-26 | 2018-04-26 | It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208028720U true CN208028720U (en) | 2018-10-30 |
Family
ID=63910544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820610646.5U Active CN208028720U (en) | 2018-04-26 | 2018-04-26 | It is a kind of based on scratch bar and flexible ring composition two axis rotating mechanisms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208028720U (en) |
-
2018
- 2018-04-26 CN CN201820610646.5U patent/CN208028720U/en active Active
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