CN102252568A - Linear motor driven distance-variable rocker arm double-shaft guide head frame - Google Patents
Linear motor driven distance-variable rocker arm double-shaft guide head frame Download PDFInfo
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- CN102252568A CN102252568A CN2011101081178A CN201110108117A CN102252568A CN 102252568 A CN102252568 A CN 102252568A CN 2011101081178 A CN2011101081178 A CN 2011101081178A CN 201110108117 A CN201110108117 A CN 201110108117A CN 102252568 A CN102252568 A CN 102252568A
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Abstract
本发明提出一种直线电机驱动变距摇臂双轴导引头框架，包括导引头单元，两自由度框架单元、摇臂单元、驱动单元和基座单元。本发明应用径向尺寸较小的直流直线电机代替转矩电机作为驱动部件，并通过合理设计使得整个机构的径向尺寸都很小，便于安装在直径较小的导弹上。且本发明中采用俯仰通道摇臂和偏航通道摇臂将驱动框架转动所需的行程放大，从而更加充分的使用了电机的有效行程，提高了系统的控制精度，也减小了作用在电机上的载荷，提高了机构的动态性能。
The invention proposes a linear motor-driven variable-pitch rocker biaxial seeker frame, which includes a seeker unit, a two-degree-of-freedom frame unit, a rocker unit, a drive unit and a base unit. The present invention uses a DC linear motor with a small radial dimension instead of a torque motor as a driving component, and through reasonable design, the radial dimension of the whole mechanism is very small, which is convenient for installation on a missile with a small diameter. And in the present invention, the pitch channel rocker arm and the yaw channel rocker arm are used to amplify the stroke required to drive the frame to rotate, thereby more fully using the effective stroke of the motor, improving the control accuracy of the system, and reducing the impact on the motor. The load on the machine improves the dynamic performance of the mechanism.
Description
Technical field
The invention belongs to target seeker control technology field, be specifically related to a kind of linear electric motors and drive distance-variable rocker arm twin shaft target seeker framework.
Background technology
Traditional target-seeking guiding frame system of internal and external frame formula twin shaft is characterized in constituting the platform cascaded structure by inside casing and housing two cover mechanisms, and two cover mechanisms form basic identical, include drive shaft system, direct current generator, angular transducer, detector.Adopt direct current torque driven by servomotor, and many parts that quality is bigger, be directly installed on the internal and external frame as direct current generator etc.The direct current generator quality that its shortcoming is mounted on the internal and external frame is bigger, and it is big to add the quality of upper frame own, causes the whole system rotary inertia bigger.Be unfavorable for improving the dynamic property of system.And because structure is limit, mechanism's radial dimension is bigger, and structure is comparatively complicated.
List of references 1: contain German army, the model roc, sieve protects. a kind of structure of novel target seeker and dynamic analysis [J]. Machine Design and manufacturing, 2008, introduced a kind of novel target seeker of rope drive arcuate structure among the 11:193..Novel target seeker structure employing arc-shaped guide rail is as motion and supporting body and utilize the steel wire rope transmission to realize transmission of power.The target seeker mechanical system is identical with traditional target seeker, still adopts inside and outside two covers to form essentially identical pair of tower structure.But this target seeker is installed in the device of big inertia such as motor, drive on the pedestal, thereby effectively reduces motion platform load, helps the raising of dynamic performance.But also there is certain problem in it.Adopt steel wire rope to realize transmission of power, because steel wire rope itself is a kind of flexible material, bad assurance transmission accuracy and lifetime of system.And this target seeker structure is complicated, still has the bigger problem of mechanism size.
Summary of the invention
At problems of the prior art, the present invention improves on the structure of traditional target-seeking guiding frame system of internal and external frame formula twin shaft, reduce the inertia of rotatable parts, improve its dynamic property, propose a kind of linear electric motors and drive distance-variable rocker arm twin shaft target seeker framework.And use of the new technology and replace traditional torque motor as driving element as the less DC linear servomotor of radial dimension, and by reasonable structural design reducing mechanism radial dimension and simplified structure, improve reliability, adopt distance-variable rocker arm to amplify the use stroke of motor (being pitch channel linear electric motors and jaw channel linear electric motors), thereby improve the precision of control system, improve the stressing conditions of motor.
A kind of linear electric motors drive distance-variable rocker arm twin shaft target seeker framework, it is characterized in that: comprise the target seeker unit, two-freedom frame unit, swing arm unit, driver element and base unit;
Described two-freedom frame unit is made up of rotation platform seat, inside casing and housing, the upper surface of rotation platform seat is fixed in the bottom of described target seeker unit A, the center of target seeker unit is axially perpendicular to the surface of rotation platform seat, the two ends up and down of rotation platform seat connect semi-enclosed inside casing and housing in turn, inside casing rotates around the upper end of rotation platform seat and link position place, the lower end rectilinear direction of rotation platform seat, vertical and the body shell in the middle part of the framework of housing is fixed, and housing can be rotated around this vertical fixing position;
Described swing arm unit is made up of pitch channel rocker arm support, pitch channel rocking arm and jaw channel rocking arm; The galianconism end of described pitch channel rocking arm is connected with the upper end of housing, the long arm end of pitch channel rocking arm is connected with the pitch channel linear electric motors, the middle part of pitch channel rocking arm is installed on the end of pitch channel rocker arm support, and the other end of pitch channel rocker arm support is connected in a side of the stage casing bulkhead of base unit;
Described base unit is made up of stage casing bulkhead, base framework, pitch channel motor cabinet fixed arm, jaw channel motor mount and pitch channel motor mount; Described base framework is made up of double layer of metal plate up and down, and by the connection of metallic support post, the front end of double layer of metal plate is connected by the opposite side of bolt with the stage casing bulkhead between the double layer of metal plate; The galianconism end of described jaw channel rocking arm is connected with the side arm of rotation platform seat, drives inside casing and rotates, and the long arm end of jaw channel rocking arm is connected with the jaw channel linear electric motors; The middle part of jaw channel rocking arm is connected on upper strata metallic plate or the lower metal plate by the fixture that has bearing, the pitch channel motor mount is installed on the pitch channel motor cabinet fixed arm by the fixture that has bearing, the pitch channel motor mount freely rotates around pitch channel motor cabinet fixed arm, and pitch channel motor cabinet fixed arm is fixed on the bottom of the lower metal plate afterbody of base framework; The jaw channel motor mount is installed between the double layer of metal plate afterbody of base framework, and connects by bearing, realizes freely rotating;
Described driver element is made up of jaw channel motor and pitch channel motor; Be individually fixed on the jaw channel motor mount and pitch channel motor mount among the base unit E.
The advantage that advantage of the present invention has is:
(1) the present invention proposes a kind of linear electric motors and drives distance-variable rocker arm twin shaft target seeker framework, directly be fixed on the pedestal by pitch channel linear electric motors and jaw channel linear electric motors that quality is bigger, inside casing and frame structure have been simplified, reduce the rotary inertia of twin shaft target seeker framework greatly, improved the dynamic property of twin shaft target seeker framework;
(2) the present invention proposes a kind of linear electric motors and drives distance-variable rocker arm twin shaft target seeker framework, the employing amplification coefficient is that the pitch channel rocking arm and the jaw channel rocking arm of 1～3 (being preferably 1.5) will drive the required stroke amplification of framework rotation, thereby used the effective travel of motor more fully, improved the control accuracy of system, also reduce to act on the load on the motor, improved the dynamic property of mechanism;
(3) the present invention proposes a kind of linear electric motors and drives distance-variable rocker arm twin shaft target seeker framework, because part simple in structure is less, makes its lighter weight, and the production and processing cost is low, the time short, is very favourable for this disposable environment for use of guided missile;
(4) the present invention proposes a kind of linear electric motors and drives distance-variable rocker arm twin shaft target seeker framework, using the less DC linear electric motor of radial dimension replaces torque motor as driver part, and make that by appropriate design the radial dimension of entire mechanism is all very little, be convenient to be installed on the less guided missile of diameter.
Description of drawings
Fig. 1: linear electric motors of the present invention drive the structural representation of distance-variable rocker arm twin shaft target seeker framework;
Fig. 2: linear electric motors of the present invention drive the partial structurtes vertical view of distance-variable rocker arm twin shaft target seeker framework;
Fig. 3: linear electric motors of the present invention drive the partial structurtes side view of distance-variable rocker arm twin shaft target seeker framework;
Fig. 4: the partial structurtes that linear electric motors of the present invention drive distance-variable rocker arm twin shaft target seeker framework are in neutral position figure;
Fig. 5: the partial structurtes mechanism that linear electric motors of the present invention drive distance-variable rocker arm twin shaft target seeker framework turns over the θ angle around the y axle;
Fig. 6: the partial structurtes mechanism that linear electric motors of the present invention drive distance-variable rocker arm twin shaft target seeker framework turns over around the y axle that " axle turns over the ψ angle again around z on the basis at θ angle.
Among the figure:
1, jaw channel motor 2, jaw channel motor mount 3, base framework
4, stage casing bulkhead 5, pitch channel rocker arm support 6, pitch channel rocking arm
7, inside casing 8, housing 9, target seeker unit
10, pitch channel motor 11, rotation platform seat 12, jaw channel rocking arm
13, pitch channel motor mount 14, pitch channel motor cabinet fixed arm
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
The present invention proposes a kind of linear electric motors and drives distance-variable rocker arm twin shaft target seeker framework, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, comprises target seeker unit 9, two-freedom frame unit, swing arm unit, driver element and base unit.
Described two-freedom frame unit is made up of rotation platform seat 11, inside casing 7 and housing 8, the upper surface of rotation platform seat 11 is fixed in the bottom of described target seeker unit 9, the center of target seeker unit 9 is axially perpendicular to the surface of rotation platform seat 11, the two ends up and down of rotation platform seat 11 connect semi-enclosed inside casing 7 and housing 8 in turn, inside casing 7 can rotate around the upper side wall of rotation platform seat 11 and the lower wall link position place rectilinear direction of rotation platform seat 11, inside casing 7 is preferably U type frame, and housing 8 is preferably semicircle frame.Set up rectangular coordinate system, the rotor shaft direction that inside casing 7 rotates is defined as Z-direction, and the central axial direction of target seeker unit 9 is defined as X-direction.7 of the lower surface of described rotation platform seat 11 and inside casings are provided with pad, can adjust distance between rotation platform seat 11 lower surfaces and the inside casing 7 front and back relative position of x axle (promptly along) by the thickness of regulating pad.Vertical and the body shell in the middle part of the framework of housing 8 is fixed, and housing 8 can be rotated around this vertical fixing position, and this rotating shaft direction is defined as Y direction.Described target seeker unit 9 adopts the ccd camera as sensing element.The rocking arm that the lower end of described rotation platform seat has.
Described swing arm unit is made up of pitch channel rocker arm support 5, pitch channel rocking arm 6 and jaw channel rocking arm 12.The galianconism end of described pitch channel rocking arm 6 is connected with the upper end of housing 8, driving housing 8 rotates, the long arm end of pitch channel rocking arm 6 is connected with pitch channel linear electric motors 10, the middle part of pitch channel rocking arm 6 is installed on the end of pitch channel rocker arm support 5 by the fixture that has bearing, free to rotate, the other end of pitch channel rocker arm support 5 is connected in a side of the stage casing bulkhead 4 of base unit;
Described base unit is made up of stage casing bulkhead 4, base framework 3, pitch channel motor cabinet fixed arm 14, jaw channel motor mount 2 and pitch channel motor mount 13; As shown in Figures 2 and 3, described base framework 3 is made up of the metallic plate of two-layer hollow out up and down, and by the connection of metallic support post, the front end of double layer of metal plate is connected by the opposite side of bolt with stage casing bulkhead 4 between the double layer of metal plate.The galianconism end of described jaw channel rocking arm 12 is connected with the lower end side arm of rotation platform seat 11, drives inside casing 7 and rotates, and the long arm end of jaw channel rocking arm 12 is connected with jaw channel linear electric motors 1.The middle part of jaw channel rocking arm 12 is connected on upper strata metallic plate or the lower metal plate by the fixture that has bearing, pitch channel motor mount 13 is installed on the pitch channel motor cabinet fixed arm 14 by the fixture that has bearing, and pitch channel motor mount 13 can freely rotate around pitch channel motor cabinet fixed arm 14.Pitch channel motor cabinet fixed arm 14 is fixed on the bottom of the lower metal plate afterbody of base framework 3; Jaw channel motor mount 2 is installed between the double layer of metal plate afterbody of base framework 3 by the fixture that has bearing, and connects by bearing, can realize freely rotating;
Described driver element is made up of jaw channel motor 1 and pitch channel motor 10; Be individually fixed on the jaw channel motor mount 2 among the base unit E and pitch channel motor mount 13 on, jaw channel motor 1 and pitch channel motor 10 by pitch channel rocking arm 6 and jaw channel rocking arm 12 with transmission of power to two-freedom frame unit B, drive inside casing 7 and housing 8 rotates.Described pitch channel motor 10 and jaw channel motor 1 adopt linear servo-actuator as driving element.
The arbitrary target directing of target seeker unit 9 in its range of movement can by two rotational angle θ of two-freedom frame unit B and ψ is unique be determined, wherein rotational angle θ is the angle that target seeker housing 8 turns over around the y axle, and ψ is the angle that target seeker inside casing 7 turns over around the z axle.It is the rocking arm of 1～3 (being preferably 1.5) that described pitch channel rocking arm 6 and jaw channel rocking arm 12 adopt amplification coefficient.
One end and oneself motor connecting rod one end of pitch channel motor 10 output push rods are connected, and the connecting rod other end is connected with the long arm end of pitch channel rocking arm 6 by ball is secondary, and then pitch channel motor 10 can drive 6 rotations of pitch channel rocking arm.The galianconism end of pitch channel rocking arm 6 is connected by the connecting rod that two ends have the ball pair with the housing 8 of two-freedom frame unit B.The power of pitch channel motor 10 just can be passed to two-freedom frame unit B like this, turns over the θ angle thereby drive its y axle in Fig. 5.Jaw channel motor 1 is fixed on by screw on the jaw channel motor mount 2 of base unit E, and jaw channel motor mount 2 is installed on the base framework 3 of base unit E by the fixture that has bearing.One end and oneself motor connecting rod one end of jaw channel motor 1 output push rod are connected, and the connecting rod other end is connected with the long arm end of jaw channel rocking arm 12 by ball is secondary, and then motor can drive 12 rotations of jaw channel rocking arm.The rocking arm that is installed on inside casing 7 rotation platforms in the galianconism end of jaw channel rocking arm 12 and the two-freedom frame unit is connected by the connecting rod that two ends have the ball pair.The power of jaw channel motor 1 just can be passed to two-freedom frame unit B like this, thereby drives its z in Fig. 6, and " axle turns over the ψ angle.
Claims (5)
1. linear electric motors drive distance-variable rocker arm twin shaft target seeker framework, it is characterized in that: comprise the target seeker unit, two-freedom frame unit, swing arm unit, driver element and base unit;
Described two-freedom frame unit is made up of rotation platform seat, inside casing and housing, the upper surface of rotation platform seat is fixed in the bottom of described target seeker unit A, the center of target seeker unit is axially perpendicular to the surface of rotation platform seat, the upper and lower side of rotation platform seat connects semi-enclosed inside casing and housing in turn, inside casing rotates around link position place, the lower end rectilinear direction of the upper end rotation platform seat of rotation platform seat, the middle part of the framework of housing is vertical to be fixed with the body shell, and housing is rotated around this vertical fixing position;
Described swing arm unit is made up of pitch channel rocker arm support, pitch channel rocking arm and jaw channel rocking arm; The galianconism end of described pitch channel rocking arm is connected with the upper end of housing, the long arm end of pitch channel rocking arm is connected with the pitch channel linear electric motors, the middle part of pitch channel rocking arm is installed on the end of pitch channel rocker arm support, and the other end of pitch channel rocker arm support is connected in a side of the stage casing bulkhead of base unit;
Described base unit is made up of stage casing bulkhead, base framework, pitch channel motor cabinet fixed arm, jaw channel motor mount and pitch channel motor mount; Described base framework is made up of double layer of metal plate up and down, and by the connection of metallic support post, the front end of double layer of metal plate is connected by the opposite side of bolt with the stage casing bulkhead between the double layer of metal plate; The galianconism end of described jaw channel rocking arm is connected with the rotation platform seat, drives inside casing and rotates, and the long arm end of jaw channel rocking arm is connected with the jaw channel linear electric motors; The middle part of jaw channel rocking arm is connected on upper strata metallic plate or the lower metal plate by the fixture that has bearing, the pitch channel motor mount is installed on the pitch channel motor cabinet fixed arm by the fixture that has bearing, the pitch channel motor mount freely rotates around pitch channel motor cabinet fixed arm, and pitch channel motor cabinet fixed arm is fixed on the bottom of the lower metal plate afterbody of base framework; The jaw channel motor mount is installed between the afterbody of double layer of metal plate of base framework, and connects by bearing, realizes freely rotating;
Described driver element is made up of jaw channel motor and pitching linear electric motors, is individually fixed on the jaw channel motor mount and pitch channel motor mount among the base unit E.
2. a kind of linear electric motors according to claim 1 drive distance-variable rocker arm twin shaft target seeker framework, it is characterized in that: be provided with pad between the lower surface of described rotation platform seat and inside casing, by the thickness adjustment rotation platform seat lower surface of adjusting pad and the distance between the inside casing.
3. a kind of linear electric motors according to claim 1 drive distance-variable rocker arm twin shaft target seeker framework, it is characterized in that: described target seeker unit A adopts the ccd camera as sensing element.
4. a kind of linear electric motors according to claim 1 drive distance-variable rocker arm twin shaft target seeker framework, it is characterized in that: described pitch channel rocking arm and jaw channel rocking arm employing amplification coefficient are 1～3 rocking arm.
5. a kind of linear electric motors according to claim 1 drive distance-variable rocker arm twin shaft target seeker framework, and it is characterized in that: described pitch channel motor and jaw channel motor all adopt linear servo-actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110108117 CN102252568B (en) | 2011-04-28 | 2011-04-28 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110108117 CN102252568B (en) | 2011-04-28 | 2011-04-28 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
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| Publication Number | Publication Date |
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| CN102252568A true CN102252568A (en) | 2011-11-23 |
| CN102252568B CN102252568B (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110108117 Expired - Fee Related CN102252568B (en) | 2011-04-28 | 2011-04-28 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743543A (en) * | 2013-12-20 | 2014-04-23 | 河北汉光重工有限责任公司 | Integrated navigation attitude benchmark testing tool for seeker |
| CN109932925A (en) * | 2017-12-15 | 2019-06-25 | 北京机电工程研究所 | Multi-reconnaissance point simulation method |
| CN111006553A (en) * | 2019-11-28 | 2020-04-14 | 北京航天飞腾装备技术有限责任公司 | Seeker frame type connecting rod driving device based on shell fixing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4085910A (en) * | 1972-04-12 | 1978-04-25 | Northrop Corporation | Dual mode optical seeker for guided missile control |
| JPH0635540A (en) * | 1992-07-20 | 1994-02-10 | Nec Corp | Image guiding device |
| CN101598946A (en) * | 2009-06-26 | 2009-12-09 | 中国人民解放军国防科学技术大学 | Full-range space orientation mechanism |
| CN101782354A (en) * | 2009-01-16 | 2010-07-21 | 中国人民解放军空军航空大学 | Terminal guidance section simulation system |
-
2011
- 2011-04-28 CN CN 201110108117 patent/CN102252568B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4085910A (en) * | 1972-04-12 | 1978-04-25 | Northrop Corporation | Dual mode optical seeker for guided missile control |
| JPH0635540A (en) * | 1992-07-20 | 1994-02-10 | Nec Corp | Image guiding device |
| CN101782354A (en) * | 2009-01-16 | 2010-07-21 | 中国人民解放军空军航空大学 | Terminal guidance section simulation system |
| CN101598946A (en) * | 2009-06-26 | 2009-12-09 | 中国人民解放军国防科学技术大学 | Full-range space orientation mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743543A (en) * | 2013-12-20 | 2014-04-23 | 河北汉光重工有限责任公司 | Integrated navigation attitude benchmark testing tool for seeker |
| CN109932925A (en) * | 2017-12-15 | 2019-06-25 | 北京机电工程研究所 | Multi-reconnaissance point simulation method |
| CN109932925B (en) * | 2017-12-15 | 2021-12-10 | 北京机电工程研究所 | Multi-scout simulation method |
| CN111006553A (en) * | 2019-11-28 | 2020-04-14 | 北京航天飞腾装备技术有限责任公司 | Seeker frame type connecting rod driving device based on shell fixing |
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| CN102252568B (en) | 2013-06-19 |
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