KR20230121344A - Drive module for axis-free inertial stabilization platform - Google Patents

Abstract

In the continuous-axis line of sight stabilization device having a driving module included in a driving module assembly that prevents shaking of the internal platform, the driving module of the continuous-axis stabilizing device according to an embodiment is configured in plurality to implement the driving module assembly. Each of the drive modules may include an actuator that performs stabilization control for rotational vibration, and at least one spherical bearing-damper assembly capable of removing external vibration.

Description

Drive module for axis-free inertial stabilization platform}

The present invention relates to a driving module of a continuous axis gaze stabilization device.

Aerial photography is used for military purposes, industrial and academic research, or recently, to photograph disaster areas, etc., and is generally obtained by photographing objects on the ground through a camera mounted on the inside or bottom of the aircraft.

Among the aerial photography methods, manned aerial photography takes pictures of objects or landscapes by attaching a camera to a body directly operated by a pilot, such as an airplane or a helicopter. In this manned aerial photography method, the pilot shoots directly or a cameraman for filming accompanies the camera while directly checking the filmed screen, so the focus or angle of the camera can be corrected immediately while looking at the filmed screen or the screen being filmed, so it is possible to accurately It has the advantage of being able to shoot .

However, aerial photography, as is known, has a problem in that the camera shakes during filming because the vibration transmitted from the aircraft is large, and the captured pictures or images are not clear, especially when filming at high altitude along with vibration transmitted from the aircraft. There was a problem in that vibration caused by aerodynamic disturbance was transmitted to the camera.

Accordingly, in order to prevent this, the camera module is supported by a stabilizing actuator including a gimbal.

Vibration from the outside includes not only aircraft vibration but also vibration caused by wind pressure and explosion. Vibration from the outside may be transmitted to the camera module as an angular oscillation disturbance causing angular displacement in the camera module. Since the quality of an image may be degraded due to such a disturbance, a stabilization system capable of completely removing the disturbance is required.

As an example of the prior art, Korean Registered Patent No. 1240819 (published on January 21, 2013) describes a high-altitude remote photographing device capable of maintaining a posture.

The above background art is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and cannot necessarily be said to be known art disclosed to the general public prior to the present application.

An object according to an embodiment is to provide a driving module of a vibration stabilization device to prevent shaking (vibration) of an internal platform with respect to external vibration.

In the continuous axis gaze stabilization device according to an embodiment having a drive module included in a drive module assembly to prevent shaking of the internal platform, the drive module of the continuous axis stabilization device according to an embodiment implements the drive module assembly. Each of the drive modules may include an actuator that performs stabilization control for rotational vibration, and at least one spherical bearing-damper assembly capable of removing external vibration.

The actuator may include a first coil and a second coil disposed to cross each other, a yoke installed below a frame ring on which the first coil and the second coil are disposed, and a magnet disposed on the yoke.

The first coil may be wound around a first coil frame, the second coil may be wound around a second coil frame, and the first coil frame and the second coil frame may cross each other.

A lower end of the yoke may be connected to the inner platform.

The actuator may be a voice coil actuator having two degrees of freedom.

The actuator may form three drive shafts and rotate in all directions.

The spherical bearing-damper assembly may be disposed at both ends of the actuator.

Each of the spherical bearing-damper assemblies may include a rotating member capable of rotational motion and a vibration damping member reducing external vibration.

The rotating member includes a bearing outer ring, a bearing inner ring, and a bearing steel ball disposed between the bearing outer ring and the bearing inner ring, and the bearing inner ring may be connected to the inner platform.

The bearing inner ring and the bearing outer ring may rotate the inner platform within a preset angle.

The anti-vibration member may be disposed on an upper side of a frame of the anti-vibration member, the frame of the anti-vibration member may be connected to an upper portion of a connector connected to the frame ring, and the rotating member may be disposed at a lower portion of the connector.

Each of the driving modules may be spaced apart from each other at equal intervals on an outer surface of the inner platform.

There are four driving modules, two driving modules constitute one pair of driving modules, and the driving modules in each pair may be disposed to face each other.

Each of the driving modules may be connected to each other through a reinforcing rod.

The driving module of the continuous-axis line of sight stabilization device according to an embodiment may stabilize vibration of the internal platform with respect to external vibration.

In particular, four drive modules are installed in a ring shape on the outer surface of the inner platform, and two anti-vibration members are installed on each drive module to be connected to the inner platform, and each drive module forms three drive shafts, Directional rotation is possible, so it can respond appropriately to the disturbance applied to the internal platform.

1 is an exploded perspective view of a continuous axis gaze stabilization device according to an embodiment of the present invention.
2 is a coupled state diagram of the driving module assembly shown in FIG. 1;
3 and 4 are views showing a case in which the drive module assembly shown in FIG. 2 is installed on an internal platform.
5 is an exploded perspective view of the driving module shown in FIG. 4;
6 is a coupling state diagram of FIG. 5;
FIG. 7 is a view of the driving module of FIG. 6 viewed from below.
FIG. 8 is a cutaway view showing a part of the voice coil actuator in the driving module of FIG. 6 .
9 is a diagram illustrating a case in which a continuous-axis gaze stabilization device according to an embodiment of the present invention is mounted.
FIG. 10 is a cross-sectional view viewed from the direction of view A of FIG. 9 .
11 and 12 are views for explaining a drive shaft of a continuous-axis gaze stabilization device according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following description is one of several aspects of the embodiments, and the following description forms part of a detailed description of the embodiments.

However, in describing an embodiment, a detailed description of a known function or configuration will be omitted to clarify the gist of the present invention.

In addition, the terms or words used in this specification and claims should not be interpreted in a conventional or dictionary sense, and the inventor may appropriately define the concept of the term in order to explain his or her invention in the best way. Based on the principle that there is, it should be interpreted as a meaning and concept corresponding to the technical idea of the cooling system according to an embodiment.

Therefore, the embodiments described in this specification and the configuration shown in the drawings are only one most preferred embodiment of the driving module of the continuous-axis gaze stabilization device according to an embodiment, and the driving of the continuous-axis gaze stabilization device according to an embodiment. Since it does not represent all of the technical ideas of the module, it should be understood that there may be various equivalents and modifications that can replace them at the time of this application.

1 is an exploded perspective view of a continuous axis gaze stabilization device according to an embodiment of the present invention, FIG. 2 is a coupled state diagram of a drive module assembly shown in FIG. 1, and FIGS. 3 and 4 are a drive module assembly shown in FIG. 2 Indicates a case where is installed on an internal platform.

The device for stabilizing continuous-axis gaze according to an embodiment of the present invention may include an internal platform 10 , a gyro sensor 16 , a vibration compensation control unit 18 , and a driving module assembly 40 .

The internal platform 10 may accommodate a camera (with a built-in gyro sensor) or a gyro sensor 16 or the like.

That is, a storage space 10a capable of accommodating a camera (with a built-in gyro sensor) or a gyro sensor 16 may be formed in the internal platform 10 . The storage space 10a is opened in one direction of the inner platform 10 . Accordingly, for example, in the case of a camera (with a built-in gyro sensor), a lens portion of the corresponding camera may be installed in the storage space portion 10a so as to face the opening of the storage space portion 10a.

The outer surface of the inner platform 10 is formed to have multiple surfaces.

The gyro sensor 16 may be housed in the storage space 10a of the inner platform 10. In this case, the gyro sensor 16 senses the rotational angular velocity of the inner platform 10 and outputs an electrical signal to the inner platform 10. Vibration occurring in the platform 10 can be detected.

If, instead of the gyro sensor 16, a camera (eg, a built-in gyro sensor) is stored in the storage space 10a, the gyro sensor built into the camera detects the rotational angular velocity of the camera and outputs an electrical signal. Vibration occurring in the camera can be detected.

The vibration compensation control unit 18 may send a signal for compensating (for example, suppressing or canceling) vibration presented by the output signal of the gyro sensor 16 or the gyro sensor built in the camera to the driving module assembly 40. .

Here, the vibration compensation controller 18 may include a counter mass.

The driving module assembly 40 can prevent shaking due to a disturbance applied to the internal platform 10 based on a compensation signal from the vibration compensation control unit 18 .

The drive module assembly 40 may include a plurality of actuators 50 and a plurality of spherical bearing-damper assemblies 25 .

For example, the driving module assembly 40 may include four actuators 50 and eight spherical bearing-damper assemblies 25 .

Here, two spherical bearing-damper assemblies 25 may correspond to one actuator 50. That is, one spherical bearing-damper assembly 25 may be installed at both ends of one actuator 50.

Each actuator 50 may be composed of a voice coil actuator capable of two-degree-of-freedom movement.

In this way, the correspondence of two spherical bearing-damper assemblies 25 to one actuator 50 can be referred to as one drive module 20.

In one embodiment of the present invention, the driving module assembly 40 may be referred to as an assembly of four driving modules 20 . In the drawing, the driving module 20 is shown as four, but it may be more than that if necessary.

Each drive module 20 of the drive module assembly 40 may be installed on the outer surface of the inner platform 10 and spaced apart from each other at equal intervals. In this case, the driving module assembly 40 may be composed of two pairs of driving modules 20 by making the two driving modules 20 a pair. The drive modules 20 in each pair may be disposed facing each other.

In addition, each of the driving modules 20 may be connected to each other through the reinforcing bar 12 . The reinforcing bar 12 can stabilize the inner platform 10 more firmly by increasing overall rigidity.

More specifically, the reinforcing bar 12 is installed between two adjacent actuators 50, one end of the reinforcing bar 12 is connected to any one actuator 50 among the two adjacent actuators 50, and the reinforcing bar 12 The other end of ) is connected to another actuator 50 among two adjacent actuators 50.

When the plurality of actuators 50 and the plurality of spherical bearing-damper assemblies 25 shown in FIG. 1 are assembled, the driving module assembly 40 of the form shown in FIG. 2 can be obtained. The driving module assembly 40 may be formed in a ring shape with the reinforcing bar 12 as a medium.

And, the drive module assembly 40 of FIG. 2 may be installed on the outer surface of the inner platform 10 as shown in FIGS. 3 and 4 . 3 is for showing the shape of the drive module 20, the reinforcing bar 12 is not shown.

As described above, in the continuous axis gaze stabilization device according to an embodiment of the present invention, when the gyro sensor 16 detects vibration occurring in the internal platform 10, the vibration compensation control unit 18 transmits a signal for compensating for the vibration. By generating and transmitting to the driving module assembly 40, the driving module assembly 40 rotates in all directions to remove the vibration generated in the internal platform 10.

5 is an exploded perspective view of the drive module 20 shown in FIG. 4, FIG. 6 is a coupled state diagram of FIG. 5, FIG. 7 is a view of the drive module 20 of FIG. 6 viewed from the bottom, and FIG. It is a view showing a part of the voice coil actuator 50 in the drive module 20 of FIG. 6 by cutting it.

A single drive module 20 is composed of two spherical bearing-damper assemblies 25 and one actuator 50.

The actuator 50 may perform gaze stabilization control for rotational vibration of the internal platform 10 .

The actuator 50 may be composed of a voice coil actuator that operates according to Fleming's left hand rule.

The actuator 50 includes a first coil 23 wound around a first coil frame 30 with a predetermined number of turns, a second coil 22 wound around a second coil frame 29 with a predetermined number of turns, and the first coil A frame ring 21 to which the frame 30 and the second coil frame 29 are mounted, a two-stage yoke 27 installed below the frame ring 21 to increase the output of the corresponding actuator, and a yoke It may include a magnet 28 installed in (27).

The first coil 23 and the second coil 22 are disposed to cross each other in order to implement two degrees of freedom. In this case, the first coil frame 30 and the second coil frame 29 may cross each other so that the first coil 23 and the second coil 22 are disposed to cross each other. That is, a hollow through hole is formed in the second coil frame 29, and the first coil frame 30 penetrates the inside of the second coil frame 29 through the through hole to form a second coil frame 29. It is installed crosswise with respect to Accordingly, the first coil 23 and the second coil 22 wound around the first coil frame 30 and the second coil frame 29 may cross each other.

For example, the first coil 23 may be referred to as a lower coil, and the second coil 22 may be referred to as an upper coil.

In addition, the reference numerals of the above-described through-holes are not separately described, but those with ordinary knowledge can easily understand where the above-described through-holes mean by looking at FIG. 5.

The yoke 27 is formed in an X-shape and is installed on the inner platform 10 so that it can rotate and move inside the coils 22 and 23 without interference. That is, the yoke 27 may be connected to the inner platform, and preferably, the lower end of the yoke 27 may be mounted on the inner platform 10 to transmit an output.

The magnet 28 is, for example, a neodymium magnet, and is installed horizontally inside the two-stage yoke 27 .

The actuator 50 described above is capable of two-degree-of-freedom movement. To this end, as illustrated in FIG. 8 , movement in the directions of force1 and force2 may be performed.

Meanwhile, the spherical bearing-damper assembly 25 can remove external vibration. That is, by the spherical bearing-damper assembly 25, the internal platform 10 may be in a state in which only rotational influences are applied in a state free from external vibration.

The spherical bearing-damper assembly 25 may include a rotational member 26 capable of rotational motion and a vibration isolation member 24 that reduces or eliminates external vibration.

Here, the rotating member 26 may be composed of a spherical bearing. More specifically, the rotating member 26 includes a bearing outer ring 26a, a bearing inner ring 26b, and a bearing outer ring 26a and a bearing inner ring 26b. It may be composed of a bearing steel ball 26c disposed between them.

The bearing inner race (26b) is connected to the inner platform (10).

The bearing inner ring 26b and the bearing outer ring 26a can freely rotate the inner platform 10 on which the inner ring 26b is mounted within a predetermined angle with a small frictional force. That is, due to the bearing inner ring 26b and the bearing outer ring 26a, the inner platform 10 may have a driving angle within a certain range. To this end, the bearing inner ring 26b and the bearing outer ring 26a must have dimensional precision and surface roughness, and may be manufactured by performing polishing or mirror finishing.

The anti-vibration member 24 is installed so that the top of the anti-vibration member frame 31 protrudes, and the anti-vibration member frame 31 is mounted on the top of the connector 32 connected to the frame ring 21. A rotating member 26 is installed at the bottom of the connector 32 .

The driving module 20 configured as described above may transmit an output to the internal platform 10 in a state in which external vibration is reduced by the anti-vibration member 24 .

9 is a view illustrating a case where a continuous-axis line of sight stabilization device according to an embodiment of the present invention is mounted, FIG. 10 is a cross-sectional view viewed from the direction of view A of FIG. 9, and FIGS. 11 and 12 are an embodiment of the present invention. It is a drawing for explaining the drive shaft of the continuous-axis gaze stabilization device according to the example.

In the continuous axis gaze stabilization device according to an embodiment of the present invention, four driving modules 20 may be disposed on the outer surface of the inner platform 10 to stabilize the vibration of the inner platform 10 against external vibration. .

The internal platform 10 and the drive module assembly 40 in the above-described continuous axis line of sight stabilization device according to the embodiment of the present invention may be mounted on the frame 14 in the form shown in FIGS. 9 and 10 . Here, the frame 14 may be referred to as a jig.

That is, the inner platform 10 and the drive module assembly 40 are mounted inside the frame 14 including the base 14a, the left sidewall portion 14b, the right sidewall portion 14c, and the top plate portion 14d. can

Here, the anti-vibration member 24 included in the drive module assembly 40 is installed at a corner formed by the above-described base 14a, left side wall portion 14b, right side wall portion 14c, and top plate portion 14d. .

At this time, in order to prevent vibration caused by the separation of the bearing inner and outer races 26a and 26b of the rotating member 26 included in the drive module assembly 40 and the separation of the bearing steel ball 26c, as shown in FIG. The member 24 is preferably mounted while receiving a certain preload.

The actuator 50 of the drive module 20 performs stabilization control for rotational direction vibration. In the continuous axis gaze stabilization device according to an embodiment of the present invention, a total of four voice coil actuators 50 are used to Stabilization control for rotational vibration of (10) is possible. For example, as shown in FIGS. 11 and 12 , each actuator 50 of the driving module 20 may form three driving shafts r1 , r2 , and r3 to be able to rotate in all directions.

In other words, since the above-described continuous-axis gaze stabilization device according to the embodiment of the present invention is mounted on an external platform (ie, the frame 14) through eight anti-vibration members 24, the anti-vibration member 24 is primarily It can play a role in reducing external vibration. In addition, since the rotating member 26 (spherical bearing) located at the bottom of the eight anti-vibration members 24 (that is, the bottom of the connector 32) is supported in close contact with the inner platform 10, the actuator 50 When driven, the bearing inner ring 26b of each rotating member 26 (spherical bearing) adheres to the inner platform 10 and moves together, so it is possible to stabilize the line of sight against the rotational vibration of the inner platform 10.

In this way, the internal platform 10 is configured by applying the structure of the driving module 20 and the rotating member 26 (spherical bearing), so that it can freely rotate to actively respond to disturbance, and the frictional force for rotation is small. can

Conventional devices have two drive shafts and have limitations in responding to disturbances applied in all directions, but the continuous axis gaze stabilization device according to an embodiment of the present invention has three drive shafts, can respond more appropriately to disturbances applied by

As described above, in the embodiments, the embodiments have been described by specific details such as specific components, limited embodiments, and drawings, but these are provided to help overall understanding. In addition, the present invention is not limited to the above-described embodiments, and various modifications and variations can be made from these descriptions by those skilled in the art. Therefore, the spirit of the present invention should not be limited to the above-described embodiments and should not be determined, and all things that are equivalent or equivalent to the claims as well as the claims to be described later belong to the scope of the present invention.

10: Inner platform
12: Reinforcements
14: frame
16: Gyro sensor
18: vibration compensation control unit
20: drive module
40: drive module assembly

Claims (14)

In the continuous axis gaze stabilization device having a driving module included in a driving module assembly that prevents shaking of the internal platform,
The drive module is composed of a plurality to implement the drive module assembly,
Each of the driving modules,
an actuator that performs stabilization control for rotational vibration; and
At least one spherical bearing-damper assembly capable of removing external vibration;
including,
Driving module of continuous axis gaze stabilization device.
According to claim 1,
The actuator,
a first coil and a second coil disposed to cross each other;
a yoke installed under the frame ring where the first and second coils are disposed; and
a magnet disposed on the yoke;
including,
Driving module of continuous axis gaze stabilization device.
According to claim 2,
The first coil is wound around a first coil frame and the second coil is wound around a second coil frame;
The first coil frame and the second coil frame cross each other,
Driving module of continuous axis gaze stabilization device.
According to claim 2,
The lower end of the yoke is connected to the inner platform,
Driving module of continuous axis gaze stabilization device.
According to claim 1,
The actuator,
A voice coil actuator with two degrees of freedom,
Driving module of continuous axis gaze stabilization device.
According to claim 5,
The actuator,
It forms three driving shafts and can rotate in all directions,
Driving module of continuous axis gaze stabilization device.
According to claim 2,
The spherical bearing-damper assembly is disposed at both ends of the actuator,
Driving module of continuous axis gaze stabilization device.
According to claim 7,
Each of the spherical bearing-damper assemblies,
Rotating member capable of rotational movement; and
a vibration isolation member that reduces external vibration;
including,
Driving module of continuous axis gaze stabilization device.
According to claim 8,
The rotating member,
bearing outer ring;
bearing inner ring; and
Including a bearing steel ball disposed between the bearing outer ring and the bearing inner ring,
The bearing inner ring is connected to the inner platform,
Driving module of continuous axis gaze stabilization device.
According to claim 9,
The bearing inner ring and the bearing outer ring rotate the inner platform within a predetermined angle,
Driving module of continuous axis gaze stabilization device.
According to claim 8,
The anti-vibration member is disposed on the upper side of the anti-vibration member frame,
The anti-vibration member frame is connected to the upper part of the connector connected to the frame ring, and the rotating member is disposed in the lower part of the connector.
Driving module of continuous axis gaze stabilization device.
According to claim 1,
Each of the driving modules,
Arranged spaced apart from each other at equal intervals on the outer surface of the inner platform,
Driving module of continuous axis gaze stabilization device.
According to claim 12,
The driving module is four,
The two driving modules constitute a pair of driving modules, and the driving modules in each pair are arranged to face each other.
Driving module of continuous axis gaze stabilization device.
According to claim 12,
Each of the driving modules is connected to each other through a reinforcement,
Driving module of continuous axis gaze stabilization device.