CN106160323B - A kind of high-precision finite angle formula shafting device - Google Patents

Abstract

A high-precision limited-rotation-angle shafting device, which relates to the field of a sweeping mechanism of an aerospace remote sensing instrument; includes a high-precision resolver, a resolver positioning screw, a resolver installation sleeve, a shaft feedback shaft, a fixed frame or a base Seat, pivot mounting seat, lug pressing block, flexible pivot, load, shaft transmission shaft, shaft limit jackscrew, motor mover, motor stator; in this patent, the flexible pivot is used as the supporting method. The support method has no friction force or friction moment, and does not need to use any lubrication method. The torsional resistance moment of the shaft system is only related to the torsional stiffness and rotation angle of the pivot, and is not affected by environmental factors such as temperature. The shaft system uses a voice coil motor as the drive element for reciprocating motion with a limited swing angle. It does not need a reversing device, has a simple structure and high reliability; and has large acceleration and fast response; it is especially suitable for short-stroke closed-loop servo control systems.

Description

A high-precision limited-rotation-angle shafting device

technical field

The invention relates to the field of a sweeping mechanism of an aerospace remote sensing instrument, in particular to a high-precision limited-rotation-angle shafting device.

Background technique

With the rapid development of aerospace technology and the continuous improvement of application requirements, the requirements for the tracking (scanning) accuracy of space remote sensing monitoring instruments are getting higher and higher, and the basic way to improve the accuracy is to improve the manufacturing accuracy of the shafting structure and improve the drive fineness of the control system. sub-accuracy. Structural machining and assembly is mainly to ensure the positional accuracy of the shafting support components. For example, when the span of the shafting is 200mm-300mm, the coaxial precision of machining can be optimized to an error of 0.005mm. According to the current level of machining and, It has been difficult to improve; the subdivision accuracy of the control system drive can be improved, but at the cost of a large amount of calculation and high power consumption, which is contrary to the design criteria of light weight, compact and low power consumption of aerospace products.

The traditional rotating shaft design is generally supported by rolling bearings, and the shafting is driven by stepping motors or DC torque motors; however, rolling bearings are generally suitable for working conditions where the shafting rotates throughout the entire circle, or the rolling elements in the bearing rotate evenly throughout the entire circle. When the oscillating speed of the shaft system is low and the working range of the shaft system is small, if rolling bearings are used, it is easy to cause creeping phenomenon, and the life of the rolling elements will be seriously affected under the long-term non-full cycle stress condition.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, to provide a high-precision limited-rotation-angle shafting device, and to choose a shafting design method in which the flexible pivot support is matched with the voice coil motor drive, and the limited manufacturing accuracy and control Under the premise of subdivision accuracy, the tracking (scanning) accuracy of the shaft system in the swing mechanism is further improved.

Above-mentioned purpose of the present invention is achieved by following technical scheme:

A high-precision limited-rotation-angle shafting device, including a high-precision resolver, a resolver positioning screw, a resolver installation sleeve, a shaft feedback shaft, a base, a pivot mount, an ear piece, a flexible Pivot, load device, shaft transmission shaft, shaft limit screw and voice coil motor; wherein, the load device is horizontally located in the center; both ends of the load device are fixedly connected to the flexible pivot, and the flexible pivot at both ends is axial The side wall is fixedly connected to the pivot mounting seat; the pivot mounting seat is fixedly installed at the axial center of the base; the flexible pivots at both ends are provided with lug pressing blocks at the contact positions of the load device; high-precision resolver, resolver The positioning jackscrew, the resolver installation sleeve, and the shaft system feedback shaft are respectively installed on the axial outer side of the base; among them, the shaft system feedback shaft is coaxially installed at the center of the base, and the axial end of the shaft system feedback shaft is aligned with the pivot The mounting seat is fixedly connected; the high-precision resolver is coaxially installed outside the shaft end of the base; the resolver installation sleeve is fixedly fitted on the axial side wall of the base at one axial end; the resolver positioning jack wire is installed around the resolver installation The axial middle position of the sleeve;

On the other end of the load device, the shaft transmission shaft is fixed coaxially on the outer wall of the pivot mounting seat; the voice coil motor is fixed on the outer wall of the shaft transmission shaft; the shaft limit screw extends into the voice coil in the radial direction The outer wall of the motor and shaft transmission shaft.

In the aforementioned high-precision limited-angle shafting device, the lug pressing block is installed axially parallel to the outer wall of the flexible pivot, and one axial end of the lug pressing block is fixedly connected to one end of the load device.

In the above-mentioned high-precision limited-angle shafting device, the voice coil motor is a split structure, including a motor mover and a motor stator; the motor mover is fixedly installed on the outside of the shaft transmission shaft; the motor stator is fixedly installed On the outer wall of the motor mover.

In the above-mentioned high-precision limited-rotation-angle shafting device, a rotating shaft limit screw is provided along the radial direction of the motor mover, and the rotating shaft limit screw passes through the motor mover in the radial direction and extends into the shaft system Transmission shaft.

In the above-mentioned high-precision limited-angle shafting device, the cross-section of the shafting transmission shaft is a T-shaped structure; the motor mover is fixedly sleeved on the horizontally extending shaft of the shafting transmission shaft.

In the above-mentioned high-precision limited-rotation-angle shafting device, the motor mover is installed on the horizontally extending shaft of the driving shaft of the shafting system through a transition fit through the shaft hole; the transition fit size is 0.002 mm to 0.005 mm.

In the above-mentioned high-precision limited-angle shafting device, the load device is a pointing mirror, a scanning mirror or a calibration plate; the rotation range of the load device is -6°～+6°; the motion form of the load device is Steady scanning, pointing or fast switching.

In the above-mentioned high-precision limited-angle shafting device, a cylindrical hole is provided at the center of the pivot mounting seat, and the coaxial error of the cylindrical holes of the pivot mounting seat at both ends of the loading device is not greater than 0.005 mm.

In the above-mentioned high-precision limited-angle shafting device, the lug pressing block is radially provided with a preloading amount for the flexible pivot shaft, and the preloading amount is 0.01-0.03mm.

In the above-mentioned high-precision limited-rotation-angle shafting device, the extension distance of the limit screw of the rotating shaft is 0.4-0.6 mm.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention adopts a voice coil motor as the driving part of the shafting device, which improves the utilization efficiency of the motor, reduces the size and quality of the shafting structure, and simultaneously achieves higher control precision;

(2) The present invention adopts a flexible pivot as the supporting part of the shafting device, so that the shafting device has no frictional resistance, its structure is simple and easy to realize, and high motion accuracy is achieved;

(3) The structural form of the voice coil motor in the present invention is a split structure, and its motion form is a limited rotation angle rotation type, and its driving range should cover the motion range required for shafting assembly. The outstanding feature of the voice coil motor is that it directly converts electrical energy into mechanical energy without an intermediate conversion mechanism. It has a series of advantages such as small size, light weight, and fast response.

Description of drawings

Fig. 1 is a schematic diagram of a high-precision limited-angle shafting device of the present invention;

Fig. 2 is a side view of the high-precision limited-angle shafting device of the present invention;

Fig. 3 is a structural schematic diagram of the motor of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

Under the condition of certain manufacturing precision and control precision, this patent can achieve higher shafting tracking (scanning) precision. The only way is to select more suitable shafting support parts and match matching drive elements. Flexible pivot support, voice coil motor-driven shafting design method is one of the key technologies to improve precision in the application of limited rotation angle shafting.

In the present invention, by strictly adapting to the load characteristics and operating conditions, the design method of the shafting system with flexible pivot support and voice coil motor drive is selected, and on the premise of limited manufacturing accuracy and control subdivision accuracy, the swing mechanism is further improved. Shaft tracking (scanning) accuracy.

According to the load quality, working angle range and service life requirements, select the pivot model; determine the basic load torque of the shafting system according to the torsional stiffness characteristics of the pivoting shaft and the maximum working angle, and then check the motor leads, angular position sensor leads and other components in the shafting system The lead wires estimate the additional load added to the shafting movement, and the sum of the above two items is the shafting load torque; according to the working range of the shafting system and the appropriate system installation error and necessary safety margin, determine the working angle of the voice coil motor Range requirements: Determine the maximum output torque of the voice coil motor according to the shaft load torque and give the necessary driving torque margin, that is, determine the value of the current torque coefficient of the motor.

As shown in Figure 1, it is a schematic diagram of a high-precision limited-angle shafting device of the present invention. It can be seen from the figure that a high-precision limited-angle shafting device includes a high-precision resolver 1, a resolver positioning screw 2, a resolver Variable installation sleeve 3, shafting feedback shaft 4, base 5, pivot mounting seat 6, lug pressing block 7, flexible pivot 8, load device 9, shafting transmission shaft 10, shaft limit jackscrew 11 and a voice coil motor; wherein, the load device 9 is horizontally located at the center; the two ends of the load device 9 are fixedly connected to the flexible pivot 8, and the axial side walls of the flexible pivot 8 at both ends are fixedly connected to the pivot mounting seat 6; The shaft mounting seat 6 is fixedly installed at the axial center position of the base 5; the flexible pivot shaft 8 at both ends is in contact with the load device 9, and the lug pressing block 7 is arranged, and the lug pressing block 7 is radial to the flexible pivot shaft 8. There is a preloading amount, the preloading amount is 0.01-0.03mm; the high-precision resolver 1, the resolver positioning screw 2, the resolver installation sleeve 3, and the shaft system feedback shaft 4 are respectively installed on the axial outside of the base 5 ; Wherein, the shafting feedback shaft 4 is coaxially installed at the center of the base 5, and one axial end of the shafting feedback shaft 4 is fixedly connected to the pivot mounting seat 6, and the lug pressing block 7 should be preloaded in the radial direction of the pivot shaft , in order to prevent loosening during the working process, the amount of preload depends on the size of the pivot, generally can be controlled at 0.01mm ~ 0.03mm; the other end of the pivot is installed on the fixed frame or base through the pivot seat 6 and the positioning screw 5. It is also required that the coaxiality error of the two holes of the pivot mounting hole is not greater than 0.005mm, and the depth of the tap socket of the positioning top should be controlled at about 0.5mm; The variable installation sleeve 3 is fixedly set on the axial side wall of one axial end of the base 5; the resolver positioning screw 2 is installed around the axial middle of the resolver installation sleeve 3;

On the other end of the load device 9, the shaft transmission shaft 10 is coaxially and fixedly installed on the outer wall of the pivot mount 6; the voice coil motor is fixedly installed on the outer wall of the shaft transmission shaft 10; Extending into the outer wall of the voice coil motor and the shaft transmission rotating shaft 10, the extending distance of the rotating shaft limit jackscrew 11 is 0.4-0.6mm.

The loading device 9 is a pointing mirror, a scanning mirror or a calibration plate; the rotation range of the loading device 9 is -6°-+6°; its movement form is stable scanning, fixed-point pointing or fast switching.

A cylindrical hole is provided at the center of the pivot mounting seat 6, and the coaxial error of the cylindrical holes of the pivot mounting seat 6 at both ends of the loading device 9 is not greater than 0.005 mm.

As shown in Figure 2, it is a side view of the high-precision limited-angle shafting device of the present invention. It can be seen from the figure that the lug pressing block 7 is axially installed on the outer wall of the flexible pivot 8 in parallel, and the lug pressing block 7 is axially One end is fixedly connected with one end of the load device 9 .

As shown in Figure 3 is a schematic diagram of the motor structure of the present invention, as can be seen from the figure, the voice coil motor is a split structure, including the motor mover 12 and the motor stator 13; the motor mover 12 is fixedly installed on the outside of the shaft transmission shaft 10 ; The motor stator 13 is fixedly installed on the outer wall of the motor mover 12; the motor mover 12 is radially provided with a rotating shaft limiting jackscrew 11, and the rotating shaft limiting jacking wire 11 passes through the motor mover 12 sequentially in the radial direction, and Stretch into shafting transmission rotating shaft 10. The movement form of the voice coil motor is a limited rotation angle rotation type, and its driving range should cover the movement range required by the shafting assembly. The outstanding feature of the voice coil motor is that it directly converts electrical energy into mechanical energy without an intermediate conversion mechanism. It has a series of advantages such as small size, light weight, and fast response.

The cross-section of the shaft transmission shaft 10 is a T-shaped structure placed horizontally; the motor mover 12 is fixedly set on the horizontally extending shaft of the shaft transmission shaft 10; the motor mover 12 is installed on the shaft drive shaft 10 through the shaft hole transition Horizontally protruding from the shaft; the transition fit size is 0.002mm ~ 0.005mm.

The working principle of the present invention is:

The control system calculates the angle error in real time according to the feedback value of the high-precision resolver, and then according to the set control algorithm, adjusts the output voltage at both ends of the shaft drive component shaft voice coil motor by adjusting the PWM duty cycle, so as to realize shaft rotation. High-precision closed-loop position servo system.

The advantage of the present invention compared with prior art is:

The shaft system design method of the present invention innovatively adopts the flexible pivot support and voice coil motor drive, which greatly reduces the structural volume and quality; no reversing device is required, the structure is simple, the reliability is high, and the acceleration is large and the response Fast, especially suitable for short-stroke closed-loop servo control systems requiring high precision.

The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.

Claims (10)

1. a kind of high-precision finite angle formula shafting device, it is characterised in that：Become including high-precision rotary transformer (1), rotation Position jackscrew (2), rotation becomes installation sleeve (3), shafting feedback shaft (4), pedestal (5), pivot mount (6), auricle briquetting (7), flexible pivot (8), load device (9), shafting drive shaft (10), shaft /V jackscrew (11) and voice coil motor；Wherein, Load device (9) is positioned horizontally in center；The both ends of load device (9) are fixedly connected with flexible pivot (8), the flexibility at both ends Pivot (8) axial side wall is fixedly connected with pivot mount (6)；Pivot mount (6) is fixedly mounted in the axial direction of pedestal (5) Heart position；Both ends flexible pivot (8) is provided with auricle briquetting (7) with load device (9) contact position；In load device (9) One end, high-precision rotary transformer (1), rotation become positioning jackscrew (2), rotation change installation sleeve (3), shafting feedback shaft (4) respectively Mounted on the axially external of pedestal (5)；Wherein, shafting feedback shaft (4) is coaxially mounted to pedestal (5) center, and shafting The axial one end of feedback shaft (4) is fixedly connected with pivot mount (6)；High-precision rotary transformer (1) is coaxially mounted to pedestal (5) on the outside of shaft end；Rotation becomes the axial side wall that installation sleeve (3) is fixedly set in the axial one end of pedestal (5)；Rotation becomes positioning jackscrew (2) it is fitted around and becomes the axial medium position of installation sleeve (3) in rotation；

The other end of load device (9), shafting drive shaft (10) are coaxially fixedly mounted on the lateral wall of pivot mount (6)； Voice coil motor is fixedly mounted on the lateral wall of shafting drive shaft (10)；Shaft /V jackscrew (11) extends radially into voice coil electricity The outer wall of machine and shafting drive shaft (10).

2. a kind of high-precision finite angle formula shafting device according to claim 1, it is characterised in that：The auricle pressure Block (7) is axially installed in parallel in the outer wall of flexible pivot (8), and one end of auricle briquetting (7) axial direction and the one of load device (9) End is fixedly connected.

3. a kind of high-precision finite angle formula shafting device according to claim 1, it is characterised in that：The voice coil electricity Machine is split structure, including electric mover (12) and motor stator (13)；Electric mover (12) is fixedly mounted on shafting transmission The outside of shaft (10)；Motor stator (13) is fixedly mounted on the lateral wall of electric mover (12).

4. a kind of high-precision finite angle formula shafting device according to claim 3, it is characterised in that：Along electric mover (12) be radially provided with shaft /V jackscrew (11), and shaft /V jackscrew (11) radially sequentially pass through electric mover (12), And stretch into shafting drive shaft (10).

5. a kind of high-precision finite angle formula shafting device according to claim 3, it is characterised in that：The shafting passes Turn axis (10) section is T font structures；Electric mover (12) is fixedly set in shafting drive shaft (10) and protrudes horizontally up on axis.

6. a kind of high-precision finite angle formula shafting device according to claim 5, it is characterised in that：Electric mover (12) shafting drive shaft (10) is fitted to by axis hole transition to protrude horizontally up on axis；Transition fit dimension is 0.002mm ~0.005mm.

7. a kind of high-precision finite angle formula shafting device according to claim 1, it is characterised in that：The load Device (9) is direction mirror, scanning mirror or calibration plate；Load device (9) slewing area is -6 °~+6 °；The fortune of load device (9) Dynamic form is stablizes scanning, fixed point is directed toward or is switched fast.

8. a kind of high-precision finite angle formula shafting device according to claim 1, it is characterised in that：The pivot peace Dress seat (6) center is provided with cylindrical hole, and the coaxial error of pivot mount (6) cylindrical hole at load device (9) both ends is not More than 0.005mm.

9. a kind of high-precision finite angle formula shafting device according to claim 2, it is characterised in that：Auricle briquetting (7) precompressed amount is radially provided with to flexible pivot (8), precompressed amount is 0.01-0.03mm.

10. a kind of high-precision finite angle formula shafting device according to claim 4, it is characterised in that：Shaft /V Jackscrew (11) stretches into distance as 0.4-0.6mm.