JP2911709B2 - Rotary drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary drive device for driving a structure such as a barrel or a base of an optical infrared telescope for tracking and observing a celestial body around a support axis.

[0002]

2. Description of the Related Art FIG. 10 is an overall perspective view showing a conventional reflection type large-diameter optical infrared telescope apparatus, FIG. 11 is a sectional view of FIG. 10, and FIG. 12 is a main part of a lens barrel driving system in FIGS. 13 is a side view of FIG. 12, FIG. 14 is a front view of a main part of the gantry drive system, and FIG. 15 is a plan view of FIG.
In the figure, 1 is a mount of an infrared telescope device for astronomical observation,
2 is an Az axis that supports the gantry 1 so that it can rotate horizontally,
Reference numeral 3 denotes a plurality of motors mounted on the gantry 1 and 4 denotes a plurality of motors (4
) And 5 are ring gears fixedly mounted on the installation floor of the gantry 1 with the Az shaft 2 as a center, and the driving gear 4 meshes with the ring gear 5 to drive the main gear. The gear is synchronously driven by the motor 3.

Accordingly, the motor 3, the driving gear 4 and the ring gear 5 constitute a gantry rotation drive mechanism A for horizontally rotating the gantry 1 about the Az shaft 2.

[0004] Reference numeral 6 denotes a lens barrel comprising a reflector supporting structure mounted on the gantry 1, 7 denotes an El axis which rotatably supports the lens barrel 6 on the gantry 1 and 8 denotes an El axis thereof. 7 is a lens barrel drive system motor fixedly mounted on the gantry 1 near
A drive gear (drive gear) 9 is fitted and connected to the output shaft of the motor 8.

[0005] Reference numeral 10 denotes a driven gear (final stage gear) fitted and connected to the El shaft 7, and the driven gear 9 meshes with the driven gear 10. Therefore, the motor 8 and the driving gear 9
The driven gear 10 and the driven gear 10 constitute a lens barrel elevating mechanism B that drives the lens barrel 6 to elevate and rotate around the axis of the El axis 7.

Reference numeral 11 denotes a main reflecting mirror which is attached to a lower portion of the lens barrel 6 and collects parallel rays from an observing celestial body. reflector 13 is hank grayed lens focus the astronomical observation position, photographing objects such as photographic plate is set at the position of the skein grayed Len focus 13.

Next, the operation will be described. When observing astronomical objects, first open the observation port (not shown) of the telescope dome and point the telescope at the object to be observed. In this case, when the drive system of the gantry 1 is started, the driving gear 4 of this system is driven to rotate, and the driving gear 4 rolls along the ring gear, so that the gantry 1 rotates horizontally about the Az axis 2. Move. When the motor 8 of the lens barrel 6 drive system is started, the driven gear 10 is rotationally driven via the main driving gear 9 of this system, whereby the lens barrel 6 is turned up and down around the El shaft 7.

In this way, the gantry 1 is driven to rotate horizontally to a predetermined rotation angle, and the lens barrel 6 is driven to rotate to a predetermined elevation angle, so that the telescope captures an object to be observed. To follow. Then, the parallel rays from the observation object are collected by the main reflecting mirror 11 and
By irradiating the set photographic plate in skein grayed Ren focus 13 After reflection, this photographic plates, by continuing the fixed time exposure, astronomical images are captured.

For this reason, the rotation drive mechanism A for the Az axis 2 and the rotation drive mechanism B for the El axis 7 adjust the gantry 1 and the lens barrel 6 so as to keep capturing the celestial body during observation in accordance with the movement of the celestial body. Need to keep rotating well.

Here, each of the rotary drive mechanisms A and B includes a main driving gear 4, a ring gear 5, a main driving gear 9, and a driven gear 1
In order to eliminate backlash between 0 and improve rigidity, one pair or more must be used with a constant pre-torque (± Tp).

Assuming that the load torque around the axis is T _L , the torque (Tn) generated by each drive motor 6 of each rotary drive mechanism has the following relationship. In the case of an El-axis rotation drive mechanism (two drive motors 6), _Tz = (1/2) _TL + _TP and _TM = (1/2) T
If _L -T _P Az axis rotation drive mechanism (drive motor 6 is _{four), T M = (1/4)} T L + T P (2 units 4 units), and T _M = (1/4) T _L -T the _P (in four two remaining).

In order to obtain an image of an astronomical object, the photographic plate must be continuously exposed for a certain period of time. In order to form a clear image on the photographic plate, the photographic plate must be synchronized with the movement of the astronomical object. It is necessary to drive the gantry 1 and the lens barrel 6 with high accuracy.

[0013]

The conventional rotary drive of a telescope for astronomical observation is constructed as described above.
Friction torque of bearings present in each of the rotary drive mechanisms A and B of the gantry 1 system and the lens barrel 6 system, the driving gear 4 and the ring gear 5
In addition, the problem that the loss torque of the meshing between the driving gear 9 and the driven gear 10 fluctuates, and that the load torque fluctuates due to stick-slip, and a clear astronomical image in which the gantry 1 and the lens barrel 6 can be smoothly rotated cannot be obtained There was a point.

An anti- backlash drive for preventing backlash of the lens barrel 6 around the E1 axis 7 and backlash of the mount 1 around the Az axis 2 due to backlash of the meshing portions of the gears. Since the rate at which the pre-torque is transmitted to the lens barrel 6 and the mount 1 changes according to the fluctuation of the load torque, the amount of structural deformation of the lens barrel 6 and the mount 1 also changes, and the main reflecting mirror 11 and the sub-reflecting mirror are changed. There is a problem in that the relative position between the astronomical image and the astronomical image is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the first and second aspects of the present invention is to provide a friction torque present in each of a rotary drive mechanism of a gantry and a lens barrel. It is another object of the present invention to provide a rotary drive device which does not generate mesh loss torque and stick-slip, and does not cause structural deformation of the gantry and the lens barrel by the operation of the rotary drive mechanism.

[0016] The objects of claims 3 and 4 are as follows.
The electromagnetic attraction generated between the rotating side and the fixed side of the linear motor that drives the rotating structure can be offset, and this electromagnetic attraction does not act on the rotating structure to prevent deformation of the outer rotating structure. An object of the present invention is to provide a rotation drive device that can prevent the rotation.

[0017]

According to a first aspect of the present invention, there is provided a rotary drive device for rotating a mount such as a telescope for astronomical observation and a rotary structure such as a lens barrel around an axis. The rotary side and the fixed side of the linear motor are directly mounted on the rotary structure.

According to a second aspect of the present invention, in the rotary driving device, the linear motor for driving the rotary structure is composed of a combination of electromagnetic coils or a combination of an electromagnetic coil and a permanent magnet. And one or both of them are arranged in an arc or a circle coaxial with the rotation center of the rotating structure.

According to a third aspect of the present invention, there is provided a rotary drive device, wherein the linear motor for driving the rotary structure comprises a combination of electromagnetic coils or a combination of an electromagnetic coil and a permanent magnet. Are arranged symmetrically at the same position on the front and back surfaces of the rotating structure.

According to a fourth aspect of the present invention, there is provided a rotary drive device in which an electromagnetic coil or a permanent magnet of a linear motor is directly symmetrically mounted at the same position on both front and back surfaces of a sector wheel integrally connected to a rotary shaft of a rotary structure. An electromagnetic coil is arranged to face the electromagnetic coil or the permanent magnet via a predetermined gap.

[0021]

In the rotary drive device according to the first aspect of the present invention, since the rotating (moving) side and the fixed side of the linear motor are directly mounted on the rotary structure, a gear transmission for transmitting the rotary driving force to the rotary structure is provided. And no need for friction or other power transmission mechanisms, and backlash in these mechanisms.
In addition, the rotation control accuracy of the rotating structure is remarkably improved, and the rotational structure is not affected by a load other than the driving direction. No deformation. Therefore, when the rotation drive device of the present invention is applied to a telescope device for astronomical observation,
The lens barrel and gantry can be driven in synchronization with the movement of the celestial body.
Further, as described above, since there is no change in the relative position between the main reflecting mirror and the sub-reflecting mirror caused by the structural deformation, a clear image can be formed on the photographic dry plate.

In the rotary drive device according to the second aspect of the present invention, the linear motor is composed of a combination of electromagnetic coils or a combination of an electromagnetic coil and a permanent magnet, and one or both of the electromagnetic coils or the electromagnetic coil and the permanent magnet are the same. The rotating structure is arranged in an arc or a circle coaxial with the rotation center of the rotating structure, so that the rotating structure can be predetermined by applying electromagnetic attraction between the electromagnetic coils or between the electromagnetic coil and the permanent magnet. , And the same effect as in the case of the first aspect can be obtained.

In the rotary driving device according to the third aspect of the present invention, the linear motor for driving the rotary structure has symmetrical arrangement of the electromagnetic coils or the electromagnetic coil and the permanent magnet at the same position on the front and back surfaces of the rotary structure. Electromagnetic attraction generated between one of an electromagnetic coil or an electromagnetic coil and a permanent magnet on the rotating side of the linear motor and an electromagnetic coil or an electromagnetic coil and a permanent magnet on the fixed side of the linear motor. Since the forces are canceled and the electromagnetic attraction does not act on the rotating structure, deformation of the rotating structure due to the electromagnetic attraction can be prevented.

According to a fourth aspect of the present invention, in the rotary drive device, the electromagnetic coil or the permanent magnet of the linear motor is directly symmetrically mounted at the same position on both the front and back surfaces of the sector wheel integrally connected to the rotary shaft of the rotary structure. Since the electromagnetic coil or the permanent magnet is opposed to the permanent magnet via a predetermined gap, the same effect as in the case of the fifth aspect can be obtained.

[0025]

【Example】

Embodiment 1 FIG. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional view showing a rotation drive unit of a gantry of a astronomical observation telescope apparatus according to Embodiment 1 of the present invention, and FIG.
15 is a plan view of a main part of the second embodiment, and the same or corresponding parts as those in FIGS. In the drawing, reference numeral 1a denotes an annular groove formed in a lower circular peripheral wall portion of the gantry 1 as a rotating structure, 15 denotes a circular annular guide rail fixedly mounted on the installation floor of the gantry 1, and 15a denotes a guide rail 15 of the guide rail 15. An annular flange is formed integrally with the inner peripheral surface, and the annular groove 1a is loosely fitted in the annular flange 15a.

Reference numeral 16a denotes an electromagnetic coil directly mounted on the upper and lower opposing surfaces of the annular groove 1a, and 16b denotes the guide rail 1a.
5 is an arc-shaped or circular permanent magnet which is directly attached to the same position on the front and back surfaces of the annular flange portion 15a and faces the electromagnetic coil 15a, and the electromagnetic coil 16a and the permanent magnet 16b make the base 1 Is the Az axis (rotation axis)
A linear motor 16 that is driven to rotate horizontally around the motor 2 is formed.
A predetermined gap g is provided between a and the permanent magnet 16b.

FIG. 3 is a front view of an essential part showing a rotary driving device for the lens barrel supported on the gantry of FIG. 1, and FIG. 4 is a side view of the essential part of FIG. 3, where 14 is a rotating structure. E of lens barrel 6
The sector wheel 17a integrally connected to the l-axis 7, an electromagnetic coil 17a directly mounted on the gantry 1 at an opposing position sandwiching the sector wheel 14, and 17b being the sector wheel 1
4 is an arc-shaped or circular permanent magnet which is directly attached to the same position on the front and back surfaces and faces the electromagnetic coil 17a, and the electromagnetic cylinder 17a and the permanent magnet 17b move the lens barrel 6 to the El axis. A linear motor 17 that is driven to elevate and rotate around a rotation axis 7 is configured, and the electromagnetic coil 17 a and the permanent magnet 1 in the linear motor 17 are configured.
Also, a predetermined gap g is provided between the gap 7b.

Therefore, the electromagnetic coil 16a is integral with the gantry 1, and the electromagnetic coil 17a is integral with the lens barrel 6, and these electromagnetic coils 16a, 16b are arranged around the respective Az axis 2 and El axis 7. Will rotate.

In the first embodiment, the Az axis 2
By appropriately determining the distance from the El axis 7 to the electromagnetic coils 16a and 17a and the number of the electromagnetic coils 16a and 17a, the electromagnetic coils 16a and
7a allows the same product to be used.

Next, the operation will be described. At the time of astronomical observation, as in the conventional case, first, the observation port (not shown) of the telescope dome is opened, and the linear motor 16 of the gantry 1 is operated so that the lens barrel 6 faces the astronomical object to be observed. Then, the gantry 1 is driven to rotate horizontally, and at the same time, the linear motor 17 of the lens barrel 6 is operated to drive the lens barrel 6 up and down to a predetermined angle, thereby capturing a celestial object to be observed.

[0031] After that, precisely established positions, for example, a photographic plate of skein grayed Len focus 13 (see FIG. 11), it starts the astronomical observation in this state, the linear motor 16, 17 to synchronize the movement of the celestial By continuously exposing the photographic plate to the photographic plate for a certain period of time while driving the gantry 1 and the lens barrel 6 to keep capturing the celestial body, an astronomical image is obtained from the photographic plate.

In this case, the pre-torque (± Tp) described in the prior art is unnecessary, and if the load torque around the axis is _TL , the torque (T _M ) generated by the thrust of the linear motors 16 and 17 is It has the following equation. E In the case of the _L- axis rotation drive linear motor 10 (two units) T _M = (１ ／) T _L (per unit) In the case of the Az-axis rotation drive linear motor 11 (4 units) T _M = (1/1) 4) T _L (per unit)

The structural deformation of the gantry 1 or the lens barrel 6 due to the electromagnetic attraction generated between the electromagnetic coils 16a, 17a and the permanent magnets 16b, 17b is so small as to be negligible. If the relative position change between the mirror and the sub-reflector 12 is also negligibly small, there is no need to offset by the suction force as in the first embodiment, and the linear motors 16 and 17 do not necessarily need to be used as a pair. .

Embodiment 2 FIG. FIG. 5 is a partial front view of a rotary drive unit according to a second embodiment of the present invention, in which a main part of a gantry drive system is cut away, and FIG. 6 is a side view of the main part of FIG. In the first embodiment, the permanent magnets 16b of the linear motor 16 are disposed on the front and back surfaces of the inward annular flange portion 15a of the guide rail 15, however, in the second embodiment, linear permanent magnets 16b are provided on both the inner and outer surfaces of the circular annular guide rail 15. The permanent magnet 16b of the motor 16 is directly mounted, and the electromagnetic coil 16a that sandwiches the permanent magnet 16b with a predetermined gap g is arranged at the lower part of the gantry 1.

FIG. 7 is a partial front view of a rotary drive unit according to a second embodiment of the present invention, in which a main part of a barrel drive system is cut away.
FIG. 8 is a side view of a main part of FIG. In the first embodiment, the permanent magnets 17b of the linear motor 17 are disposed on the front and back surfaces of the sector wheel 14, however, in the second embodiment, the free end of the sector wheel 14 has an outward horizontal flange 14a.
The permanent magnets 17b of the linear motor 17 are directly mounted on the front and back surfaces of the flange portion 14a, and the electromagnetic coil 17a that sandwiches the permanent magnets 17b with a predetermined gap g is provided on the mount 1 side. It is configured to be attached to. Therefore, in the case of the second embodiment, the same effects as those of the above-described embodiment can be obtained.

Embodiment 3 FIG. FIG. 9 is a schematic explanatory view of a main part of a rotary drive device according to Embodiment 3 of the present invention. In the second embodiment, the electromagnetic coils 16a and 17a have been described as having a circular arc shape.
a and 17a need not necessarily be arc-shaped. In the third embodiment, each of the electromagnetic coils 16a and 17a has a flat plate shape, and these electromagnetic coils 16a and 17a are arranged at positions facing the permanent magnets 16b and 17b, and the air gap g between them is reduced. The configuration is such that it is within the allowable range. Even in this case, the same effect as in the case of the previous embodiment can be obtained.

Embodiment 4 FIG. In the first and second embodiments, the case where the permanent magnet 17b of the linear motor 17 is mounted on the sector wheel 14 and the electromagnetic coil 17a of the linear motor 17 is mounted on the gantry 1 has been described. The sector coil 14 may be provided with an electromagnetic coil 17a, and the gantry 1 may be provided with a permanent magnet 17b.
It has the same effect as 2.

Embodiment 5 FIG. In the first and second embodiments,
The permanent magnet 16b of the linear motor 16 is attached to the circular annular guide rail 15, and the electromagnetic coil 1 of the linear motor 16
6a was mounted on the gantry 1. On the contrary, the electromagnetic coil 16a was mounted on the guide rail 15,
In addition, the permanent magnet 16b may be mounted on the gantry 1. Even in this case, the same effect as in the above embodiment can be obtained.

Embodiment 6 FIG. Further, in each of the above embodiments, the case where the linear motors 16 and 17 including the electromagnetic coils 16a and 17a and the permanent magnets 16b and 17b are used has been described, but these linear motors 16 and 17 are composed of the electromagnetic coil and the electromagnetic coil. Alternatively, it may be composed of a combination of an electromagnetic coil and an electromagnetic coil with a permanent magnet, and in this case also, the same effects as those of the above embodiments can be obtained.

[0040]

As described above, claims 1 and 2 are as described above.
According to the invention, the rotating structure is driven to rotate by the linear motor, and the rotating side and the fixed side of the linear motor are directly mounted on the rotating structure. There is no backlash, the stiffness decrease is extremely small, and there is no mechanical loss of rotational driving force and no fluctuation of the rotational structure caused by the rotational drive mechanism, and the rotational position of the rotational structure can be controlled very easily and with high precision. effective.

According to the third and fourth aspects of the present invention,
Since the linear motor that drives the rotary structure is configured such that the electromagnetic coils or the electromagnetic coil and the permanent magnet are arranged symmetrically at the same position on both the front and back surfaces of the rotary structure, the electromagnetic coil on the rotation side of the linear motor Alternatively, the electromagnetic attraction generated between one of the electromagnetic coil and the permanent magnet and the other of the electromagnetic coil or the electromagnetic coil and the permanent magnet, which is a fixed side of the linear motor, can be canceled. Since the force does not act on the rotating structure,
There is an effect that deformation of the rotating structure due to the electromagnetic attraction force can be prevented.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing a rotation driving device of a gantry of a astronomical observation telescope device according to Embodiment 1 of the present invention.

FIG. 2 is a plan view of a main part of FIG.

FIG. 3 is a front view of a main part showing a rotation driving device for a lens barrel supported by the gantry of FIG. 1;

FIG. 4 is a plan view of a main part of FIG. 3;

FIG. 5 is a partial front view of a gantry drive system of a rotary drive device according to a second embodiment of the present invention, in which main parts are cut away.

FIG. 6 is a side view of a main part of FIG. 5;

FIG. 7 is a partial front view of a rotary drive device according to a second embodiment of the present invention, in which a main part of a lens barrel drive system is cut away.

FIG. 8 is a side view of a main part of FIG. 7;

FIG. 9 is a schematic diagram illustrating a main configuration of a rotary drive device according to a third embodiment of the present invention.

FIG. 10 is an overall perspective view showing a conventional reflection type large-diameter optical infrared telescope apparatus.

FIG. 11 is a sectional view of FIG. 10;

FIG. 12 is a front view of a main part of the lens barrel drive system in FIGS. 10 and 11;

FIG. 13 is a side view of FIG.

FIG. 14 is a front view of a main part of the gantry drive system in FIGS. 10 and 11;

FIG. 15 is a plan view of FIG.

[Explanation of symbols]

 Reference Signs List 1 base (rotating structure) 2 Az axis (rotating axis) 6 lens barrel (rotating structure) 7 El axis (rotating axis) 14 sector wheel 16 linear motor 16a electromagnetic coil 16b permanent magnet 17 linear motor 17a electromagnetic coil 17b permanent magnet

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G02B 23/02 G02B 23/16 F16C 32/04

Claims (4)

(57) [Claims] 1. A rotary drive device for rotating a mount such as a astronomical observation telescope device and a rotary structure such as a lens barrel around a rotation axis, wherein a rotary side and a fixed side of a linear motor are directly mounted on the rotary structure. A rotary drive device characterized in that: 2. The linear motor includes a combination of electromagnetic coils or a combination of an electromagnetic coil and a permanent magnet, and one or both of the electromagnetic coils or the electromagnetic coil and the permanent magnet are coaxial with the rotation center of the rotating structure. 2. The rotary drive device according to claim 1, wherein the rotary drive device is arranged in an arc shape or a circular shape of the center. 3. The linear motor includes a combination of electromagnetic coils or a combination of an electromagnetic coil and a permanent magnet, and the electromagnetic coils and the electromagnetic coil and the permanent magnet are symmetrically arranged at the same position on both front and back surfaces of the rotary structure. The rotary drive device according to claim 1, wherein: 4. A sector wheel is integrally connected to a rotating shaft of the rotating structure, and an electromagnetic coil or a permanent magnet is directly and symmetrically mounted at the same position on both front and back surfaces of the sector wheel. 4. The rotary drive device according to claim 2, wherein an electromagnetic coil is disposed to face the permanent magnet via a predetermined gap.