WO2016187837A1 - 一种双自由度旋转控制装置及设有该装置的应用系统 - Google Patents

一种双自由度旋转控制装置及设有该装置的应用系统 Download PDF

Info

Publication number
WO2016187837A1
WO2016187837A1 PCT/CN2015/079920 CN2015079920W WO2016187837A1 WO 2016187837 A1 WO2016187837 A1 WO 2016187837A1 CN 2015079920 W CN2015079920 W CN 2015079920W WO 2016187837 A1 WO2016187837 A1 WO 2016187837A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating body
degree
control device
rotation control
freedom
Prior art date
Application number
PCT/CN2015/079920
Other languages
English (en)
French (fr)
Inventor
唐李征
张地
Original Assignee
北京合众思壮科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京合众思壮科技股份有限公司 filed Critical 北京合众思壮科技股份有限公司
Priority to US15/576,087 priority Critical patent/US10337663B2/en
Priority to PCT/CN2015/079920 priority patent/WO2016187837A1/zh
Priority to EP15892918.2A priority patent/EP3306270B1/en
Publication of WO2016187837A1 publication Critical patent/WO2016187837A1/zh
Priority to IL255852A priority patent/IL255852B/en

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0604—Construction of the male part
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/02—Parts of sliding-contact bearings
    • F16C33/04—Brasses; Bushes; Linings
    • F16C33/043—Sliding surface consisting mainly of ceramics, cermets or hard carbon, e.g. diamond like carbon [DLC]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/02—Parts of sliding-contact bearings
    • F16C33/04—Brasses; Bushes; Linings
    • F16C33/26—Brasses; Bushes; Linings made from wire coils; made from a number of discs, rings, rods, or other members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/108—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors around multiple axes of rotation, e.g. spherical rotor motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general

Definitions

  • the invention relates to the field of rotating devices, in particular to a two-degree-of-freedom rotation control device.
  • the invention also relates to an application system provided with the device.
  • the two-degree-of-freedom rotating device and application system are often used to realize a stable platform, an automatic leveling device, etc., and are the core of the three-rotation degree-of-freedom driving and stabilizing device and method.
  • the two-degree-of-freedom rotating device is mostly realized by two mutually orthogonal rotating frames.
  • Motors and sensors are installed at both ends of each frame rotating shaft to realize driving and rotating angle measurement, and the external frame is supported and fixed.
  • FIG. 1 is a schematic structural view of a frame type double-degree-of-freedom rotation control device.
  • two rectangular rotating frames 1' (which may also be spherical frames) are orthogonal to each other, and two ends of the two rotating drive shafts of each rotating frame 1' are respectively mounted with a driving motor 2' and an angle sensor 3', according to The measurement data of the angle sensor 3' controls and adjusts the two rotating shafts to achieve stable control of the stable platform 4', which is a conventional electromagnetic induction motor.
  • This two-degree-of-freedom rotation control device requires two motor shafts to be perpendicular to each other, and the drive motor needs to be mounted on the two shaft ends. Therefore, there are the following deficiencies:
  • the frame form and the nested structure will lead to the oversized device, which is not conducive to the development of miniaturization, which will occupy too much space, and it is difficult to arrange and assemble.
  • the frame structure results in poor overall stiffness and insufficient stability.
  • a first object of the present invention is to provide a two-degree-of-freedom rotation control device.
  • the device has the advantages of simple structure, low cost, stable performance, easy miniaturization, wider dynamic response and lower power consumption, and can be widely applied to various dynamic stability platforms and automatic static orientation/leveling devices.
  • a second object of the present invention is to provide an application system provided with the device.
  • the present invention provides a two-degree-of-freedom rotation control apparatus, including:
  • a rotating body having a friction spherical surface with a load mounting platform at the top or inside thereof;
  • the driving motor has a driving end directly contacting the friction spherical surface of the rotating body to form a friction transmission pair tangential to the friction spherical surface.
  • the number of the driving motors is four, and is uniformly distributed at the periphery of the rotating body at a phase angle of 90 degrees, wherein the rotational torques of the friction driving pairs of the opposite two driving motors are opposite in direction.
  • the number of the driving motors is two, and the phase angles of the two are 90 degrees, and each of the driving motors is provided with a rotating supporting member opposite to the other side of the rotating body.
  • the drive motor is a standing wave type piezoelectric ceramic motor.
  • each of the drive motors is longitudinally disposed around the rotating body.
  • the method further comprises:
  • a detecting unit configured to acquire and transmit the posture data of the rotating body to the control unit
  • a control unit configured to receive the attitude data measured by the detecting unit, and control and adjust the rotation of the rotating body in two rotational degrees of freedom according to the data including the posture data.
  • the rotating body is a complete spherical rotating body, a partial spherical rotating body or a virtual spherical rotating body having a plurality of partial spherical surfaces.
  • the rotating body is a ceramic or metal rotating body.
  • the fixed support structure comprises:
  • a base having a spherical recess for receiving the rotating body
  • a lower support member is disposed at a bottom of the spherical recessed spherical space, and supports the rotating body to have a rotational degree of freedom
  • An upper pressing block is distributed on top of the spherical recess, which holds the rotating body downward on the lower support.
  • the lower support member is a lower support ring that supports the rotating body through a ring-shaped inner spherical surface; or the lower support member is an annularly distributed support block that supports the rotation by a partial inner spherical surface body.
  • the lower support ring or support block is a support ring or support block made of a solid lubricating material.
  • the upper pressing block is an upper pressing block made of a solid lubricating material.
  • the spherical recess has a hollow hemispherical shape with an opening upward, a partial plane on the outer side thereof, and a notch is formed in a partial plane to form a driving motor mounting position, and an adjacent shaped pillar is formed between the adjacent slots.
  • the upper pressing block is mounted on top of the shaped pillar.
  • the driving end of the driving motor is in direct contact with the friction spherical surface of the rotating body at an equatorial plane or an arbitrary horizontal sectional position.
  • the present invention provides an application system comprising a rotating device and a working unit thereon, the rotating device being the two-degree-of-freedom rotation control device according to any one of the above, wherein the working unit is provided
  • the load of the rotating body mounts the platform.
  • the invention adopts the standing wave type piezoelectric ceramic motor as the driving motor, and the driving end thereof directly contacts the rotating body of the rotating body to transmit the force and the moment.
  • the driving end of the standing wave type piezoelectric ceramic motor can be operated at the ultrasonic frequency and The amplitude of the nanometer transmits the force directly to the rotating body in the form of friction, thereby forming a driving torque for rotating the rotating body in different directions, and the rotational degree of rotation of each of the driving motors corresponding to one direction, through the angle detecting unit
  • the control unit can finally realize the control and adjustment of the orientation and stability of the rotating body in two degrees of rotational freedom.
  • the present invention has the following beneficial effects:
  • Two-degree-of-freedom rotation can be realized by using one rotating body.
  • the structure is simple, and it is easy to realize the orthogonality of the two rotating shafts by adjusting the mounting position of the piezoelectric ceramic motor, and the cost is greatly reduced.
  • the lower cost can ensure good sphericity and the roughness of the surface of the rotating body (nano level), while the ultrasonic excitation frequency and nanometer amplitude of the piezoelectric ceramic motor can be Very high rotational accuracy is achieved in both rotational degrees of freedom.
  • the piezoelectric ceramic motor directly applies the driving torque to the surface of the rotating body, and the spherical structure or the spheroidal structure of the rotating body has extremely high rigidity, so that extremely high dynamic performance can be obtained, and it is not necessary to drive the rotating body to rotate.
  • the self-locking characteristics of the wave-type piezoelectric ceramic motor can stabilize the attitude of the rotating body without consuming energy, so that the whole device has extremely high energy efficiency.
  • the rotating body is easy to realize the precision coupling processing with the components such as the base.
  • the fixed contact structure and the rotating body are in solid lubricating material, and the matching precision can be guaranteed within 0.5um, plus the nanometer high frequency of the piezoelectric ceramic motor. Small stepping for motion, high speed precision of the rotating body Rotating motion.
  • the dual-degree-of-freedom rotation control device using piezoelectric ceramic motor and rotating body can realize small size under the condition of satisfying high precision and large load, which is beneficial to the development of the final product in the direction of miniaturization.
  • the application system provided by the present invention is provided with the above-mentioned two-degree-of-freedom rotation control device. Since the double-degree-of-freedom rotation control device has the above technical effects, the application system provided with the dual-degree-of-freedom rotation control device should also have corresponding technical effects. .
  • FIG. 1 is a schematic structural view of a frame type double-degree-of-freedom rotation control device in the prior art
  • FIG. 2 is a schematic structural view of a specific embodiment of a two-degree-of-freedom rotation control device provided by the present invention
  • Figure 3 is a schematic view showing the structure of the ceramic spherical rotating body shown in Figure 2;
  • Figure 4 is a schematic view showing the structure of the base and the spherical recess shown in Figure 2;
  • Fig. 5 is a view showing an example of a virtual spherical rotator.
  • FIG. 2 is a schematic structural diagram of a specific embodiment of a two-degree-of-freedom rotation control device according to the present invention.
  • the two-degree-of-freedom rotation control device provided by the present invention, mainly by the rotating body 1, the base 3 provided with the spherical recess 2, the lower support ring 4, the upper pressing block 5, the angle sensor 6, The drive motor 7 and the control unit are configured.
  • the rotating body 1 is a partially spherical rotating body made of ceramic or metal (see FIG. 3), and is formed by a complete spherical body at the top, and the inside thereof may be a hollow structure, and other components may be installed on the top or the inside, and the load mounting platform may be installed. It can be located inside the rotating body 1 or at the top of the rotating body 1. Except for the top surface, the rest of the rotating body 1 is a spherical surface, that is, a friction spherical surface, and the surface of the friction spherical surface can achieve a nanometer-level roughness by surface finishing.
  • FIG. 4 is a schematic structural view of the base and the spherical recess shown in FIG. 2.
  • the base 3 has a disc shape, and a spherical recess 2 for accommodating the rotating body is disposed at the center thereof.
  • the spherical recess 2 has a hollow hemispherical shape with an opening upward, and a top surface thereof is located below the equatorial plane so that the rotating body 1 can Smoothly placed into the spherical recess 2, the outer side surface is cut in the longitudinal direction into four circumferentially evenly distributed partial planes, and a "U" shaped notch is formed in the partial plane to form a driving motor mounting position, adjacent " Shaped struts are formed between the U-shaped notches.
  • the spherical recess 2 has a single structure and can be precisely formed at one time. Compared with the split assembled structure, the spherical recess 2 has a simple structure, stable performance, easy assembly, and can ensure that the two rotating shafts are precisely orthogonal, thereby greatly reducing cost.
  • the lower support ring 4 is mounted on the bottom of the spherical space of the spherical recess 2, which rotates around the three rotation axes of the three-dimensional space by the annular inner spherical support body 1, that is, the X-axis, the Y-axis and the Z shown in FIG.
  • the shaft, any rotational movement of the rotating body 1, can be decomposed into rotations about the X-axis, the Y-axis and the Z-axis.
  • the rotating body 1 can rotate arbitrarily in the spherical recess 2, it does not follow the X-axis, the Y-axis, and The Z-axis is displaced, that is, the rotating body 1 has only rotational freedom with respect to the spherical recess 2.
  • the shape of the upper pressing block 5 substantially coincides with the shape of the top surface of the profiled pillar, and the four upper pressing blocks 5 are respectively fixed on the tops of the four shaped pillars, and the rotating body 1 is held down on the lower supporting ring 4, which is coupled with the rotating body.
  • the contact portion of 1 is at a position above the equatorial plane of the rotor 1 to hold the rotor 1 on the lower support ring 4 from being removed from the spherical recess 2.
  • the lower support ring 4 and the upper press block 5 are made of a solid lubricating material, and PTFE (polytetrafluoroethylene) or PEEK (polyether ether ketone) material can be used. In this embodiment, a polytetrafluoroethylene material is used.
  • the upper pressing block 5 is not made of a solid lubricating material, in order to prevent a large frictional force between the upper pressing block 5 and the rotating body 1 from affecting the rotation of the rotating body 1, the upper pressing block 5 may be in contact with the rotating body 1.
  • An anti-friction pad or anti-friction layer is added, and an anti-friction pad or anti-friction layer is fixed on the upper pressing block 5.
  • the driving motor 7 adopts a standing wave type piezoelectric ceramic motor, the number of which is four, two of which are symmetrically arranged on the two sides of the rotating body 1 in the X direction in the opposite manner, and the other two are symmetric in the Y direction in the opposite manner.
  • four driving motors 7 are evenly distributed around the rotating body 1 and arranged longitudinally, forming a phase angle of 90 degrees, and the driving end of each driving motor 7 is a linear driving end, that is, only linear driving is possible.
  • the linear driving end is in direct contact with the friction spherical surface of the rotating body 1 to form a friction driving pair tangential to the friction spherical surface, and the rotating torque directions of the two driving motors 7 in the same direction are opposite to each other in the X-axis direction.
  • the two drive motors 7 are used to simultaneously drive the rotary body 1 to rotate about the Y-axis, and the two drive motors 7 in the Y-axis direction are used to simultaneously drive the rotary body 1 to rotate about the X-axis.
  • the drive motor 7 can be fixed to the drive motor mounting position of the spherical recess 2 by the motor mounting plate 8 shown in FIG.
  • the rotating body 1 is also preferably a ceramic rotating body, so that the two form a relatively ideal friction working pair.
  • the angle sensor 6 is a MEMS angle sensor, and specifically, a MEMS gyro or MEMS accelerometer can be used, which is mounted on the plane of the top of the rotating body 1 through the sensor connection mounting plate 9 for timely detecting the attitude data of the rotating body 1 and transmitting the data.
  • the control unit controls and adjusts the orientation and stability of the rotating body 1 in two rotational degrees of freedom (rotation around the X axis and rotation around the Y axis) based on the measured attitude data.
  • the orientation here means that the rotating body 1 and the load thereon always point or align with a specific direction or a specific target, and the stability means that the rotating body 1 and the load thereon always maintain a set posture, for example, the top surface of the rotating body 1 is always Keep level and so on.
  • the angle sensor 6 can also be placed inside the spherical rotating body 1, and whether the angle sensor is built-in or external, the measurement data is transmitted wirelessly and wirelessly.
  • the driving motor 7 transmits force or torque through the friction between the ceramic head of the piezoelectric motor and the surface of the ceramic spherical rotating body 1.
  • the ceramic head of the driving motor 7 transmits the force directly to the ultrasonic working frequency and the amplitude of the nanometer in the form of friction.
  • the surface of the ceramic spherical rotating body 1 forms a driving torque that rotates around the X and Y axes.
  • the two driving motors 7 longitudinally mounted at both ends of the Y-axis are reversely excited, and a moment about the X-axis rotation is applied to the ceramic spherical rotating body 1; and the other pair of driving motors 7 are reversely excited to give a ceramic spherical shape.
  • the rotating body 1 applies a moment of rotation about the Y axis, thereby achieving a winding around X,
  • the Y-axis is driven by two rotational degrees of freedom.
  • the rotating body 1 is designed as a complete ceramic spherical rotating body, and the angle sensor 6 and the like are placed inside the ceramic spherical rotating body 1 to wirelessly supply power and transmit measurement data, thereby realizing unconstrained continuous rotation around the X and Y axes.
  • the drive is stable, and for applications with a small range of rotation, the rotor 1 can be designed as a virtual spherical rotor with a plurality of partial spheres.
  • the virtual spherical rotating body refers to a plurality of partial spherical surfaces 1-1 located on the same complete spherical surface, and the shape does not appear as a conventional spherical rotating body.
  • the four driving motors 7 of the above embodiment are longitudinally mounted on the equatorial plane of the spherical rotating body 1 and distributed at both ends of the X and Y axes.
  • the spherical rotating body 1 can be used. Only one drive motor 7 is mounted on each of the X and Y axes, and the other rotating support member is mounted on the other end.
  • the drive motor 7 may not be longitudinally mounted on the equatorial plane of the spherical rotor 1, but longitudinally mounted at a tangent position on any horizontal section of the spherical rotor 1.
  • the lower support ring 4 is replaced by a plurality of support blocks arranged in a ring shape, and the rotor 1 is supported by the support block through a partial inner spherical surface; or, the number of the drive motors 7 is further increased or decreased, and three, five, six or even more are set. And distribute according to the phase angle of equal or unequal division, and so on. Since there are many ways to implement, there is no longer an example here.
  • the invention uses a frictional transmission characteristic of a piezoelectric ceramic motor and a rotating body with a friction spherical surface, and realizes a double-degree-of-freedom rotational stable driving by means of a MEMS sensor, which can be used to keep the load stably in a horizontal position or other specific orientation, in a double freedom.
  • the base 3 is fixed to the Z-direction rotating shaft, or a Z-direction rotating shaft is added to the spherical rotating body 1 to form a single-ball three-axis rotating device, thereby realizing three rotation degrees of freedom. Control can further expand the scope of application.
  • the present invention also provides an application system including a driving device and a working unit thereon, the driving device being the double-degree-of-freedom rotation control device described above
  • the working unit is disposed on the load mounting platform of the rotating body.
  • high-speed flight such as aircraft, high-speed rail, and motor vehicles, navigation systems on operating equipment, or precise operation systems in equipment such as measurement, test, and video recording, to achieve positioning, alignment, correction, tracking, etc.
  • this article will not repeat them.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

一种双自由度旋转控制装置及应用系统，包括：转动体(1)，具有磨擦球面，其顶部或内部设有负载安装平台；固定支撑结构，保持所述转动体(1)，使其仅具有旋转自由度；驱动电机(7)，为驻波型压电陶瓷电机，各所述驱动电机(7)纵向布置于所述转动体(1)周围，其驱动端与所述转动体(1)的摩擦球面直接接触，形成与所述摩擦球面相切的纵向磨擦传动副；控制单元，根据检测单元测量的姿态数据，对所述转动体(1)在两个旋转自由度上的旋转进行控制和调整。该装置结构简单、成本低、性能稳定，且易于小型化、动态响应更宽、功耗更小，可广泛应用于各种动态稳定平台和自动静态定向/调平装置。

Description

一种双自由度旋转控制装置及设有该装置的应用系统 技术领域
本发明涉及旋转装置技术领域，特别是双自由度旋转控制装置。本发明还涉及设有该装置的应用系统。
背景技术
双自由度旋转的装置和应用系统，常用于实现稳定平台、自动调平装置等，是实现三旋转自由度驱动、稳定装置和方法的核心。
目前，双自由度旋转装置大都采用两个相互正交的转动框架实现，在每个框架旋转轴的两端安装电机和传感器实现驱动和旋转角度测量，外部采用框架进行支撑和固定。
请参考图1，图1为框架式双自由度旋转控制装置的结构示意图。
如图所示，两个矩形转动框架1'(也可采用球形框架)相互正交，各转动框架1'的两个旋转驱动轴的两端分别安装驱动电机2'和角度传感器3'，根据角度传感器3'的测量数据对两个旋转轴进行控制和调整，从而实现稳定平台4'的稳定控制，驱动电机2'为常规电磁感应电机。
这种双自由度旋转控制装置，由于两个旋转轴要求相互垂直正交，而且驱动电机需要安装在两个轴端。因此，存在以下不足：
首先，框架形式和叠套结构会导致整个装置体积过大，不利于向小型化方向发展，会占用过大的空间，布置与组装的难度较大。
其次，虽然从原理图来看，其结构较为简单，但在实际制造过程中，为保证两个旋转轴精确地相互垂直正交，其机械结构会十分复杂，而且加工、装调精度要求很高，导致设备成本较高。
再者，框架式结构导致整个装置刚度较差，性能不够稳定。
发明内容
本发明的第一目的是提供一种双自由度旋转控制装置。该装置结构简单、成本低、性能稳定，且易于小型化、动态响应更宽、功耗更小，可广泛应用于各种动态稳定平台和自动静态定向/调平装置。
本发明的第二目的是提供一种设有该装置的应用系统。
为实现上述第一目的，本发明提供一种双自由度旋转控制装置，包括：
转动体，具有磨擦球面，其顶部或内部设有负载安装平台；
固定支撑结构，保持所述转动体，使其仅具有旋转自由度；
驱动电机，其驱动端与所述转动体的摩擦球面直接接触，形成与所述摩擦球面相切的磨擦传动副。
优选地，所述驱动电机的数量为四个，以90度相位角均匀分布于所述转动体外围，其中相对的两个所述驱动电机的磨擦传动副的回转力矩方向相反。
优选地，所述驱动电机的数量为两个，两者的相位角为90度，各所述驱动电机在所述转动体的另一侧均设有与之相对的转动支撑件。
优选地，所述驱动电机为驻波型压电陶瓷电机。
优选地，各所述驱动电机纵向布置于所述转动体周围。
优选地，还包括：
检测单元，用于获取并向控制单元传输所述转动体的姿态数据；
控制单元，用于接收所述检测单元测量的姿态数据，并根据包括所述姿态数据在内的数据对所述转动体在两个旋转自由度上的旋转进行控制和调整。
优选地，所述转动体为完整球形转动体、部分球形转动体或者具有多个局部球面的虚拟球形转动体。
优选地，所述转动体为陶瓷或金属转动体。
优选地，所述固定支撑结构包括：
底座，其上设有容纳所述转动体的球形凹座；
下支撑件，设于所述球形凹座球形空间的底部，其支撑所述转动体具有旋转自由度；
上压块，分布于所述球形凹座顶部，其将所述转动体向下保持在所述下支撑件上。
优选地，所述下支撑件为下支撑环，其通过环带形内球面支撑所述转动体；或者，所述下支撑件为环形分布的若干支撑块，其通过局部内球面支撑所述转动体。
优选地，所述下支撑环或支撑块为采用固体润滑材料制成的支撑环或支撑块。
优选地，所述上压块为采用固体润滑材料制成的上压块。
优选地，所述球形凹座呈开口向上的空心半球形，其外侧设有局部平面，并在局部平面上开设槽口，形成驱动电机安装位，相邻的所述槽口之间形成异形支柱，所述上压块安装于所述异形支柱顶部。
优选地，所述驱动电机的驱动端与所述转动体的摩擦球面在赤道面或者任意水平截面位置直接接触。
为实现上述第二目的，本发明提供一种应用系统，包括旋转装置及其上的工作单元，所述旋转装置为上述任一项所述的双自由度旋转控制装置，所述工作单元设于所述转动体的负载安装平台。
本发明采用驻波型压电陶瓷电机作为驱动电机，并使其驱动端与转动体磨擦球面直接接触传递力和力矩，工作时，驻波型压电陶瓷电机的驱动端能够以超声工作频率和纳米的振幅以摩擦的形式将力直接传递到转动体，从而形成使转动体在不同方向上旋转的驱动力矩，每一个或每一组驱动电机对应一个方向上的旋转自由度，通过角度检测单元和控制单元，最终可实现对转动体在两个旋转自由度上的定向、稳定进行控制和调整。
基于上述技术方案，本发明具有如下有益效果：
1)使用一个转动体即可实现两个自由度的旋转，结构简单，很容易通过压电陶瓷电机安装位置调整实现两个旋转轴的正交，成本将大幅降低。
2)通过转动体摩擦球面的表面精加工，较低的成本即可保证良好的球度和转动体表面的粗糙度(纳米级别)，而压电陶瓷电机的超声激励频率、纳米级振幅，可在两个旋转自由度上均获得非常高的旋转精度。
3)压电陶瓷电机直接将驱动力矩作用于转动体表面，转动体的球形结构或类球形结构具有极高的刚度，因此可获得极高的动态性能，在不需要驱动转动体转动时，驻波型压电陶瓷电机的自锁特性，能够使转动体的姿态保持稳定而不需要消耗能量，从而使得整套装置具有极高的能效。
4)转动体容易实现和底座等构件的精密耦合加工，固定支撑结构与转动体接触的部位使用固体润滑材料，其配合精度可保证在0.5um以内，加上压电陶瓷电机的纳米级高频小步进给运动，可以实现转动体的高速精准 旋转运动。
5)采用压电陶瓷电机、转动体的双自由度旋转控制装置，可在满足高精度、大负载要求的情况下实现小尺寸，有利于最终产品向小型化方向发展。
本发明所提供的应用系统设有上述双自由度旋转控制装置，由于所述双自由度旋转控制装置具有上述技术效果，设有该双自由度旋转控制装置的应用系统也应具有相应的技术效果。
附图说明
图1为现有技术中框架式双自由度旋转控制装置的结构示意图；
图2为本发明所提供的双自由度旋转控制装置的一种具体实施方式的结构示意图；
图3为图2中所示陶瓷球形转动体的结构示意图；
图4为图2中所示底座及球形凹座的结构示意图；
图5为一种虚拟球形转动体的示例图。
图1中：
转动框架1'  驱动电机2'  角度传感器3'  稳定平台4'
图2至图5中：
1.转动体  1-1.局部球面  2.球形凹座  3.底座  4.下支撑环  5.上压块  6.角度传感器  7.驱动电机  8.电机安装板  9.传感器连接安装板
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。
请参考图2，图2为本发明所提供的双自由度旋转控制装置的一种具体实施方式的结构示意图。
本发明提供的双自由度旋转控制装置的一种具体实施例中，主要由转动体1、设有球形凹座2的底座3、下支撑环4、上压块5、角度传感器6、 驱动电机7以及控制单元等构成。
转动体1为陶瓷或金属材质的部分球形转动体(见图3)，由一个完整的球体在顶部加工出平面形成，其内部可以是中空结构，顶部或内部可安装其他组成部件，负载安装平台既可以位于转动体1内部，也可以位于转动体1顶部，除顶面以外，转动体1的其余部分为球面，即摩擦球面，通过表面精加工，可使摩擦球面达到纳米级别的粗糙度。
请一并参考图4，图4为图2中所示底座及球形凹座的结构示意图。
底座3呈圆盘形，其中央处设有用于容纳转动体的球形凹座2，球形凹座2呈开口向上的空心半球形，其顶面位于赤道面以下的位置，以便于转动体1能够顺利的放入球形凹座2，其外侧面沿纵向方向切割出四个周向均匀分布的局部平面，并在局部平面上开设“U”形槽口，形成驱动电机安装位，相邻的“U”形槽口之间形成异形支柱。
球形凹座2为单体结构，可一次性精确加工成形，与分体组装式结构相比，其结构简单、性能稳定、易于装调，且能够保证两个旋转轴精确正交，从而大幅降低成本。
下支撑环4安装在球形凹座2的球形空间底部，其通过环带形内球面支撑转动体1绕立体空间的三个旋转轴旋转，也就是图3所示的X轴、Y轴和Z轴，转动体1的任何旋转运动，都可以分解为绕X轴、Y轴和Z轴的旋转，转动体1在球形凹座2内虽然可以任意旋转，却不会沿X轴、Y轴和Z轴发生位移，即转动体1相对于球形凹座2仅具有旋转自由度。
上压块5的形状大体与异形支柱的顶面形状相吻合，四个上压块5分别固定在四个异形支柱的顶部，将转动体1向下保持在下支撑环4上，其与转动体1的接触部位处于转动体1赤道面以上的位置，以便将转动体1保持在下支撑环4上，防止其从球形凹座2中脱出。
下支撑环4、上压块5采用固体润滑材料制成，可使用PTFE(聚四氟乙烯)或者PEEK(聚醚醚酮)材料，本实施例使用聚四氟乙烯材料。
若上压块5未采用固体润滑材料，则为了防止上压块5与转动体1之间产生较大的摩擦力而影响转动体1旋转，可以在上压块5与转动体1接触的部位加装防摩擦垫或防摩擦层，并将防摩擦垫或防摩擦层固定在上压块5上。
驱动电机7采用驻波型压电陶瓷电机，其数量为四个，其中两个以相对的方式在X方向上对称布置于转动体1两侧，另外两个以相对的方式在Y方向上对称布置于转动体1两侧，四个驱动电机7围绕转动体1均匀分布且纵向布置，形成的相位角为90度，各驱动电机7的驱动端为直线驱动端，也就是只能够进行直线驱动，其直线驱动端与转动体1的摩擦球面直接接触，形成与摩擦球面相切的磨擦传动副，同一方向上的两个驱动电机7的磨擦传动副的回转力矩方向相反，X轴方向上的两个驱动电机7用于同时驱动转动体1绕Y轴转动，Y轴方向上的两个驱动电机7用于同时驱动转动体1绕X轴转动。
具体地，驱动电机7可通过图2中所示的电机安装板8固定在球形凹座2的驱动电机安装位上。
由于驱动电机7的直线驱动端为陶瓷头，因此转动体1亦优选陶瓷转动体，以便两者形成较为理想的摩擦工作副。
角度传感器6为MEMS角度传感器，具体可使用MEMS陀螺或MEMS加速度计，其通过传感器连接安装板9安装在转动体1顶部的平面上，用于适时检测转动体1的姿态数据，并将数据传输至控制单元，进而由控制单元根据所测量的姿态数据，对转动体1在两个旋转自由度(绕X轴旋转和绕Y轴旋转)上的定向、稳定进行控制和调整。
这里的定向指转动体1及其上的负载始终指向或对准某一特定方向或特定目标，稳定指转动体1及其上的负载始终保持设定的姿态，例如转动体1的顶面始终保持水平等。
当然，角度传感器6也可以放置于球形转动体1内部，不论角度传感器是内置还是外置，均采用无线方式供电和无线方式传输测量数据。
工作时，驱动电机7通过压电电机陶瓷头与陶瓷球形转动体1表面的摩擦传递力或力矩的，驱动电机7的陶瓷头以超声工作频率和纳米的振幅以摩擦的形式将力直接传递到陶瓷球形转动体1表面，形成绕X、Y轴旋转的驱动力矩。
对Y轴两端纵向安装的两个驱动电机7进行反向激励，将给陶瓷球形转动体1施加一个绕X轴回转的力矩；对另外一对驱动电机7进行反向激励，将给陶瓷球形转动体1施加一个绕Y轴回转的力矩，从而实现绕X、 Y轴两个旋转自由度的驱动。
这里给出的只是本发明的一种具体实施方式，此种方式可实现X、Y轴两个旋转自由度的驱动，但由于转动体1为部分球体，因此不能进行连续旋转，对此，可以将转动体1设计为完整的陶瓷球形转动体，同时将角度传感器6等放置于陶瓷球形转动体1内部，通过无线方式进行供电、传输测量数据，从而实现绕X、Y轴连续旋转的无约束稳定驱动，而对于旋转范围较小的应用，转动体1可设计为具有多个局部球面的虚拟球形转动体。
如图5所示，虚拟球形转动体指多个局部球面1-1位于同一完整球面上，而外形上并不呈现为常规球形的转动体。
上述实施例的四个驱动电机7纵向安装在球形转动体1的赤道面上，分布在X、Y轴的两端，对于稳定、调平响应速度要求较低的应用，可以在球形转动体1的X、Y轴仅各安装一个驱动电机7，另一端安装与之相对的转动支撑件即可。
此外，对于特殊应用，驱动电机7可以不纵向安装于球形转动体1的赤道面，而是纵向安装在球形转动体1的任意水平截面上的相切位置。
上述内容仅是本发明所提供双自由度旋转控制装置的优选方案，具体并不局限于此，在此基础上可根据实际需要作出具有针对性的调整，从而得到不同的实施方式。例如，将下支撑环4替换为环形分布的若干支撑块，由支撑块通过局部内球面支撑转动体1；或者，驱动电机7的数量进一步增加或减少，设置三、五、六甚至更多个，并按照等分或不等分的相位角进行分布等等。由于可能实现的方式较多，这里就不再一一举例说明。
本发明使用压电陶瓷电机摩擦传动特性和具有磨擦球面的转动体相结合，借助MEMS传感器实现双自由度旋转稳定驱动，可用于将负载始终稳定的保持在水平位置或其他特定方位，在双自由度旋转控制装置的基础上，将其底座3固定于Z向旋转轴，或者在其球形旋转体1中增加一个Z向旋转轴，即可构成单球三轴旋转装置，从而实现三旋转自由度控制，可进一步扩大应用范围。
除了上述双自由度旋转控制装置，本发明还提供一种应用系统，包括驱动装置及其上的工作单元，驱动装置为上文所述的双自由度旋转控制装 置，工作单元设于转动体的负载安装平台。例如飞行器、高铁、机动车等高速飞行、运行设备上的导航系统，或者测量、试验、摄录等设备中的精确运行系统，以实现定向指定、对准、校正、跟踪等功能，其余结构请参考现有技术，本文不再赘述。
以上对本发明所提供的双自由度旋转控制装置及应用系统进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (15)

  1. 一种双自由度旋转控制装置，其特征在于，包括：
    转动体(1)，具有磨擦球面，其顶部或内部设有负载安装平台；
    固定支撑结构，保持所述转动体(1)，使其仅具有旋转自由度；
    驱动电机(7)，其驱动端与所述转动体(1)的摩擦球面直接接触，形成与所述摩擦球面相切的磨擦传动副。
  2. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，所述驱动电机(7)的数量为四个，以90度相位角均匀分布于所述转动体(1)外围，其中相对的两个所述驱动电机(7)的磨擦传动副的回转力矩方向相反。
  3. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，所述驱动电机(7)的数量为两个，两者的相位角为90度，各所述驱动电机(7)在所述转动体(1)的另一侧均设有与之相对的转动支撑件。
  4. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，所述驱动电机(7)为驻波型压电陶瓷电机。
  5. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，各所述驱动电机(7)纵向布置于所述转动体(1)周围。
  6. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，还包括：
    检测单元，用于获取并向控制单元传输所述转动体(1)的姿态数据；
    控制单元，用于接收所述检测单元测量的姿态数据，并根据包括所述姿态数据在内的数据对所述转动体(1)在两个旋转自由度上的旋转进行控制和调整。
  7. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，所述转动体(1)为完整球形转动体、部分球形转动体或者具有多个局部球面的虚拟球形转动体。
  8. 根据权利要求7所述的双自由度旋转控制装置，其特征在于，所述转动体(1)为陶瓷或金属转动体。
  9. 根据权利要求1所述的双自由度旋转控制装置，其特征在于，所述固定支撑结构包括：
    底座(3)，其上设有容纳所述转动体的球形凹座(2)；
    下支撑件，设于所述球形凹座(2)球形空间的底部，其支撑所述转动体(1)具有旋转自由度；
    上压块(5)，分布于所述球形凹座(2)顶部，其将所述转动体(1)向下保持在所述下支撑件上。
  10. 根据权利要求9所述的双自由度旋转控制装置，其特征在于，所述下支撑件为下支撑环(4)，其通过环带形内球面支撑所述转动体(1)；或者，所述下支撑件为环形分布的若干支撑块，其通过局部内球面支撑所述转动体(1)。
  11. 根据权利要求10所述的双自由度旋转控制装置，其特征在于，所述下支撑环(4)或支撑块为采用固体润滑材料制成的支撑环或支撑块。
  12. 根据权利要求9所述的双自由度旋转控制装置，其特征在于，所述上压块为采用固体润滑材料制成的上压块。
  13. 根据权利要求9所述的双自由度旋转控制装置，其特征在于，所述球形凹座(2)呈开口向上的空心半球形，其外侧设有局部平面，并在局部平面上开设槽口，形成驱动电机安装位，相邻的所述槽口之间形成异形支柱，所述上压块(5)安装于所述异形支柱顶部。
  14. 根据权利要求1至13任一项所述的双自由度旋转控制装置，其特征在于，所述驱动电机(7)的驱动端与所述转动体(1)的摩擦球面在赤道面或者任意水平截面位置直接接触。
  15. 一种应用系统，包括旋转装置及其上的工作单元，其特征在于，所述旋转装置为上述权利要求1至14任一项所述的双自由度旋转控制装置，所述工作单元设于所述转动体(1)的负载安装平台。
PCT/CN2015/079920 2015-05-27 2015-05-27 一种双自由度旋转控制装置及设有该装置的应用系统 WO2016187837A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/576,087 US10337663B2 (en) 2015-05-27 2015-05-27 Two-degree-of-freedom rotation control device and application system
PCT/CN2015/079920 WO2016187837A1 (zh) 2015-05-27 2015-05-27 一种双自由度旋转控制装置及设有该装置的应用系统
EP15892918.2A EP3306270B1 (en) 2015-05-27 2015-05-27 Two-degree-of-freedom rotation control device and application system therewith
IL255852A IL255852B (en) 2015-05-27 2017-11-22 A rotation control device with two degrees of freedom and an application system that includes it

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/079920 WO2016187837A1 (zh) 2015-05-27 2015-05-27 一种双自由度旋转控制装置及设有该装置的应用系统

Publications (1)

Publication Number Publication Date
WO2016187837A1 true WO2016187837A1 (zh) 2016-12-01

Family

ID=57393762

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/079920 WO2016187837A1 (zh) 2015-05-27 2015-05-27 一种双自由度旋转控制装置及设有该装置的应用系统

Country Status (4)

Country Link
US (1) US10337663B2 (zh)
EP (1) EP3306270B1 (zh)
IL (1) IL255852B (zh)
WO (1) WO2016187837A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112319387A (zh) * 2020-11-19 2021-02-05 吉林农业大学 一种拉线控制式随稳平台

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108873946B (zh) * 2018-06-04 2021-12-10 浙江大华技术股份有限公司 一种云台的定位机构、定位方法、定位系统及摄像机
CN109795715B (zh) * 2019-02-16 2023-10-13 天津大学 一种通用型飞行器三自由度和单自由度姿态综合调试平台
CN111255987B (zh) * 2020-01-21 2020-12-25 中国科学院西安光学精密机械研究所 一种具备环境适应性的视轴可调多负载通用式载物装置
CN111506119B (zh) * 2020-04-27 2023-02-14 中国科学院光电技术研究所 一种非正交驱动三自由度内框的光电吊舱装置
CN111693067B (zh) * 2020-05-25 2022-04-22 北京航天时代光电科技有限公司 一种高精度小型化双轴旋转双向锁紧定位装置
CN113028239A (zh) * 2021-03-19 2021-06-25 浙江大学 一种重锤式姿态自稳定装置
CN113547493B (zh) * 2021-07-12 2023-05-09 浙江科技学院 工作平台的自动调平方法
US11781708B1 (en) 2022-03-24 2023-10-10 Bruker Axs, Llc Low non-repetitive runout rotational mount

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB807555A (en) * 1955-12-14 1959-01-14 Vinten Ltd Improvements in or relating to tilting mountings
CN1546951A (zh) * 2003-11-28 2004-11-17 清华大学 高精度超低速双轴伺服测试用的测试转台
US6820531B1 (en) * 2003-12-01 2004-11-23 Textron Systems Corporation Positioning system with continuous-range inclination and rotation angles
EP1870790A1 (fr) * 2006-06-23 2007-12-26 The Swatch Group Research and Development Ltd. Dispositif de positionnement d'un objet dans toutes les directions
CN103744436A (zh) * 2014-01-02 2014-04-23 中国科学院空间应用工程与技术中心 一种同心局部球面高精度姿态稳定装置
CN104440833A (zh) * 2014-10-29 2015-03-25 哈尔滨工业大学 一种无随动误差的高刚度转动二维调整定位装置
CN104850140A (zh) * 2015-05-27 2015-08-19 北京合众思壮科技股份有限公司 一种双自由度旋转控制装置及设有该装置的应用系统
CN204595622U (zh) * 2015-05-27 2015-08-26 北京合众思壮科技股份有限公司 一种双自由度旋转控制装置及设有该装置的应用系统

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1015935B (zh) 1987-03-31 1992-03-18 航天工业部第一研究院第十三设计所 车辆动态测试仪
IL106296A0 (en) * 1993-07-09 1993-12-28 Nanomotion Ltd Ceramic motor
JP2993427B2 (ja) 1996-06-18 1999-12-20 川崎重工業株式会社 ２自由度球体駆動装置
CN2277094Y (zh) 1996-12-27 1998-03-25 唐世明 组合导航惯性平台
DE19961684A1 (de) * 1999-12-21 2001-06-28 Philips Corp Intellectual Pty Aktuator mit einer Kugel und piezo-elektrischen Antrieben
US7459834B2 (en) * 2005-06-22 2008-12-02 Qortek, Inc. Solid state gimbal system
JP4550850B2 (ja) 2007-03-27 2010-09-22 株式会社東芝 圧電モータシステム
GB2458905A (en) * 2008-04-01 2009-10-07 Johnson Electric Sa Omni-directional camera system
TWI393340B (zh) * 2009-02-13 2013-04-11 中原大學 球形旋轉式壓電馬達
FR2962566B1 (fr) * 2010-07-06 2013-05-17 Commissariat Energie Atomique Systeme de simulation d'un contact avec une surface par stimulation tactile
FR2992120B1 (fr) * 2012-06-15 2014-07-18 Commissariat Energie Atomique Actionneur pour moteur ultrasonique et moteur ultrasonique comportant au moins un tel actionneur
CN103792957B (zh) 2014-02-14 2016-06-08 东南大学 一种轻型二自由度相机稳定平台装置
CN104440836B (zh) 2014-10-29 2015-12-30 哈尔滨工业大学 基于密珠环形支承与双轴复合驱动的空间两自由度调整方法与装置
US20180051847A1 (en) * 2016-08-19 2018-02-22 Toren Arginteanu Spherical gimbal system using grooved rotatable ball, orthogonally oriented toothed gears, and socket casing

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB807555A (en) * 1955-12-14 1959-01-14 Vinten Ltd Improvements in or relating to tilting mountings
CN1546951A (zh) * 2003-11-28 2004-11-17 清华大学 高精度超低速双轴伺服测试用的测试转台
US6820531B1 (en) * 2003-12-01 2004-11-23 Textron Systems Corporation Positioning system with continuous-range inclination and rotation angles
EP1870790A1 (fr) * 2006-06-23 2007-12-26 The Swatch Group Research and Development Ltd. Dispositif de positionnement d'un objet dans toutes les directions
CN103744436A (zh) * 2014-01-02 2014-04-23 中国科学院空间应用工程与技术中心 一种同心局部球面高精度姿态稳定装置
CN104440833A (zh) * 2014-10-29 2015-03-25 哈尔滨工业大学 一种无随动误差的高刚度转动二维调整定位装置
CN104850140A (zh) * 2015-05-27 2015-08-19 北京合众思壮科技股份有限公司 一种双自由度旋转控制装置及设有该装置的应用系统
CN204595622U (zh) * 2015-05-27 2015-08-26 北京合众思壮科技股份有限公司 一种双自由度旋转控制装置及设有该装置的应用系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3306270A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112319387A (zh) * 2020-11-19 2021-02-05 吉林农业大学 一种拉线控制式随稳平台

Also Published As

Publication number Publication date
IL255852B (en) 2018-05-31
US10337663B2 (en) 2019-07-02
EP3306270B1 (en) 2020-01-29
US20180128416A1 (en) 2018-05-10
EP3306270A4 (en) 2018-10-17
EP3306270A1 (en) 2018-04-11
IL255852A (en) 2018-01-31

Similar Documents

Publication Publication Date Title
WO2016187837A1 (zh) 一种双自由度旋转控制装置及设有该装置的应用系统
CN104850140B (zh) 一种双自由度旋转控制装置及设有该装置的应用系统
CN204595622U (zh) 一种双自由度旋转控制装置及设有该装置的应用系统
WO2020093577A1 (zh) 一种直升机载激光雷达激光扫描姿态角稳定方法与装置
US20060213306A1 (en) Apparatus for multi-axis rotation and translation
WO2016065717A1 (zh) 航空发动机转静子装配/测量五自由度调整定位方法与装置
CN107329231B (zh) 可调节反射镜Bipod柔性支撑结构、支撑装置及其装调方法
CN107300357B (zh) 一种非接触式三自由度光学三维测量转台
US10151423B2 (en) Kinematic mount
CN102313966B (zh) 一种刚性承载式快速控制反射镜
CN106457493B (zh) 工作台装置、输送装置、半导体制造装置以及检查装置
CN103926671B (zh) 一种多自由度精密调整机构
CN203892446U (zh) 一种适用于低频振动的三维隔振装置
US7171756B2 (en) Construction laser with tiltable deflecting means
JP2016124348A (ja) オムニホイール
CN102009413A (zh) 一种适用于球电机的具有姿态检测的三自由度被动球关节
US20210069896A1 (en) 6-Dof Parallel Robot With A Double-Gyroscopic Component
CN106569371A (zh) 平移驱动装置和使用该平移驱动装置的电子装置
WO2017132923A1 (zh) 一种球体直驱机构
CN104440833A (zh) 一种无随动误差的高刚度转动二维调整定位装置
CN104690743A (zh) 一种基于单定子多自由度超声电机的机器人腕关节结构
JP6978652B2 (ja) 球の方位制御装置
CN204505286U (zh) 一种基于单定子多自由度超声电机的机器人腕关节结构
CN207407998U (zh) 一种新型傅立叶变换红外光谱仪及动镜扫描装置
CN107949522A (zh) 卫星姿态控制系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15892918

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15576087

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 255852

Country of ref document: IL

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2015892918

Country of ref document: EP