CN107246870A - A kind of difference structure stabilized platform being driven based on flexible cable - Google Patents

Abstract

The invention discloses a stable platform with a differential structure based on flexible cable transmission, which includes a platform body, a drive unit and a differential mechanism. The differential mechanism includes an azimuth shaft system, a pitch shaft system and a flexible cable assembly. The azimuth shaft The transmission between the azimuth axis and the pitch axis is through a flexible cable assembly. The azimuth axis is rotatably arranged on the platform body. The pitch axis is rotatably arranged on the azimuth axis and is orthogonal to the axis of the azimuth axis. The drive unit The output end is connected with the azimuth shaft transmission. The present invention can break through the limitation that the load-to-weight ratio of the existing integrated stable platform is difficult to increase, and realize the output of large torque with a small motor, while ensuring high transmission precision, effectively coordinating the contradiction between the platform precision requirements and the transmission characteristics of the mechanism, and solving the compactness of the platform The conflict between design and improved adaptability has the characteristics of large load capacity, strong adaptability, light weight, high precision and compact structure.

Description

A Differential Structure Stabilized Platform Based on Flexible Cable Transmission

technical field

The invention relates to a two-degree-of-freedom stable platform for isolating carrier disturbance and stabilizing inertial pointing, and specifically relates to a differential structure stable platform based on flexible cable transmission. The type of load is suitable for but not limited to photoelectric detectors, and can be used for Various precision pointing mechanisms such as aircraft reconnaissance pods, ship-borne photoelectric tracking systems, and vehicle-mounted antenna systems.

Background technique

The stable platform is a precision pointing mechanism that compensates the carrier disturbance through multi-axis motion under the condition of the moving carrier, so as to keep the load pointing inertia stable and further realize other functions such as tracking the target. At present, in order to ensure high stability accuracy, the two-axis and two-frame integral stabilized platforms at home and abroad are often directly driven by torque motors and adopt a closed mechanical structure design, which has the characteristics of good rigidity, small size, high precision, and compact structure.

For applications with large load inertia and large torque, the large weight and large volume of the torque motor seriously restrict the miniaturization and light weight of the system. The traditional closed structure also makes it difficult to install and maintain the load, which limits the platform adaptation. Sexual improvement. If the drive element uses a servo motor, it is necessary to introduce an intermediate transmission link. Due to the inherent friction, backlash and other nonlinear factors in traditional transmission methods such as gear transmission, it also restricts the improvement of the servo performance of the system, and it is difficult to meet the high precision of the stable platform. Require. The precision wire rope transmission realizes torque transmission through the static friction between the wire rope and the sheave. It is a light, efficient and simple transmission method with outstanding advantages such as low backlash, high stiffness, high efficiency and no need for lubrication. Especially in the field of power transmission It has broad application prospects in precision pointing mechanisms.

Contents of the invention

The technical problem to be solved by the present invention: In view of the conflict between the load capacity and lightweight requirements caused by the excessive load self-weight ratio of the existing two-axis two-frame integrated stable platform, and the lack of poor adaptability caused by the load layout mode, the platform's In the design, the flexible rope transmission mode is introduced, and the differential configuration is used to innovate the structural design to provide a platform that can effectively increase the load-to-weight ratio of the platform, and at the same time coordinate the contradiction between the precision requirements of the platform and the transmission characteristics of the mechanism, and solve the compact design of the platform and the improvement of adaptability The conflict, large load capacity, strong adaptability, light weight, high precision, and compact structure is a differential structural stabilization platform based on flexible cable transmission.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A stable platform with a differential structure based on flexible cable transmission, comprising a platform body, a drive unit and a differential mechanism, the differential mechanism including an azimuth shaft system, a pitch shaft system and a flexible cable assembly, the azimuth shaft system, the pitch shaft The transmission between the two systems is through flexible cable components. The azimuth axis system is rotatably arranged on the platform body, and the pitch axis system is rotatably arranged on the azimuth axis system and is perpendicular to the axis of the azimuth axis system. The output end of the drive unit and The azimuth shaft transmission is connected.

Preferably, the azimuth shaft system includes a rotary shaft, a rotary frame and a rotary combination wheel, the rotary shaft is fixedly connected to the platform body, and the rotary frame is respectively mounted on the rotary shaft through upper and lower rotary frame bearings, so The drive unit includes two sets of driving motor modules installed on the rotary shaft in reverse and arranged in the rotary frame. The upper and lower rotary combination wheels are coaxially arranged in the rotary frame respectively, and the rotary combination wheels are composed of the same The rotary combined large wheel and the rotary combined small wheel arranged on the shaft are composed of the rotary combined large wheel and the rotary combined small wheel, and the rotary combined large wheel and the rotary combined small wheel are installed on the rotary shaft through the rotary combined wheel bearing. The slewing combination small wheel of the slewing combination wheel is driven and connected by the first transmission flexible cable, and the outer wall of the slewing combination bull wheel is provided with a wheel groove, and the flexible cable assembly is arranged on the slewing combination bull wheel and the pitching shaft system of the two slewing combination wheels between.

Preferably, the slewing frame bearing is a four-point contact ball bearing.

Preferably, the rotary shaft is equipped with a motor frame, the drive motor module includes a servo motor, a harmonic reducer and a flexible cable pulley, and the servo motors of the two sets of drive motor modules are respectively installed in reverse on the motor frame, And the output end of the servo motor is connected to the flexible cable wheel through the harmonic reducer, and the outer wall of the flexible cable wheel and the rotary combination small wheel is provided with wheel grooves, and the first transmission flexible cable is wound on the flexible cable. Between the cable pulley and the slewing combination small wheel.

Preferably, the first transmission cable winds around in a figure-of-eight shape and passes through the cable pulley and the rotary combined small wheel.

The pitching shaft system includes a pitching frame, a load frame and two pitching wheels symmetrically arranged in the slewing frame along the rotary axis. Wheel grooves are provided on the outer walls of the pitching wheels. Between the pitch wheel and the pitch wheel, the pitch wheel shafts of the two pitch wheels are respectively installed on the slewing frame through the pitch wheel bearings. The pitch is mounted outside the slewing frame and fixedly connected with the two pitch wheel shafts. on the shelf.

Preferably, the flexible cable assembly includes a second transmission flexible cable, a third transmission flexible cable and a plurality of guide wheels with wheel grooves, and two pretensioning devices are provided on the rotary combined large wheel, and the second Both the transmission flexible cable and the third transmission flexible cable are surrounded by a plurality of guide wheels and arranged between the two rotary combined large wheels, and both ends are fixed by pre-tensioning devices. Starting, the two guide wheels that are perpendicular to the axial direction smoothly transition to a pitch wheel and wrap around the pitch wheel, and then the two guide wheels that are perpendicular to the axial direction smoothly transition to the lower end of the rotary combination Big wheel; the third transmission flexible cable starts from the rotary combination big wheel at the lower end, smoothly transitions to the other pitch wheel along the three guide wheels in turn and wraps around the pitch wheel once, and then along the three guide wheels The wheel smoothly transitions to the rotary combined large wheel at the upper end.

Preferably, the guide wheel includes a guide wheel shaft, a circlip for the shaft and a pulley with a pulley groove, the pulley is sleeved on the guide wheel shaft and the end is limited and fixed by the circlip for the shaft, and the guide wheel shaft It is installed and fixed on the slewing frame by nuts.

Preferably, the pre-tensioning device includes a pressure plate, a screw, a pre-tension end block and a disk spring, the pressure plate is installed on the rotary combined bull wheel through a connecting piece, and a through hole is provided on the pressure plate, and the screw rod passes through After the through hole of the pressure plate is screwed to the pre-tension end block, the bottom surface of the pre-tension end block is in contact with the side of the rotary combination bull wheel installed on the pressure plate, and the disc spring is arranged between the end surface of the through hole of the pressure plate and the screw rod , the pre-tightened end block is connected to the end of the second transmission cable or the third transmission cable.

Preferably, a detection unit is also provided on the azimuth axis system and the pitch axis system, the detection unit includes a gyroscope and an encoder, the gyroscope is installed on the load frame of the pitch axis system, and the encoder is installed on the The rotary axis of the shaft system and the pitch wheel shaft end of the pitch shaft system.

The differential structure stable platform based on flexible cable transmission of the present invention has the following advantages:

1. The stable platform of differential structure based on flexible cable transmission of the present invention includes a platform body, a drive unit and a differential mechanism. The differential mechanism includes an azimuth shafting system, a pitching shafting system and a flexible cable assembly. The shafts are driven by flexible cable components. The azimuth shaft is rotatably arranged on the platform body. The pitch shaft is rotatably arranged on the azimuth shaft and is perpendicular to the axis of the azimuth shaft. The output end of the drive unit It is connected with the transmission of the azimuth shaft system. Through the azimuth shaft system and the pitch shaft system, the platform has the freedom of rotation around the Y axis-pitch axis and the Z axis-azimuth axis, which can solve the load capacity of the platform and its own weight limitations, platform accuracy requirements and The transmission characteristics of the mechanism, the conflict between the compact design of the platform and the improvement of adaptability, have the advantages of large load capacity, strong adaptability, light weight, high precision and compact structure.

2. The present invention adopts a differential mechanism for transmission, and the azimuth shaft system and the pitch shaft system of the differential mechanism are transmitted through flexible cable components. The differential mechanism utilizes the characteristics of low backlash and high rigidity of the flexible cable, thereby ensuring stability Platform transmission precision and stable precision.

3. The load type of the differential structure stabilization platform based on flexible cable transmission of the present invention is applicable to but not limited to photoelectric detectors, and can be used in various precision pointing mechanisms such as unmanned aerial vehicle reconnaissance pods, ship-borne photoelectric tracking systems, and vehicle-mounted antenna systems. .

Description of drawings

FIG. 1 is a schematic perspective view of the three-dimensional structure of an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional structure diagram of an embodiment of the present invention.

FIG. 3 is a schematic diagram of a drive transmission structure of a servo motor according to an embodiment of the present invention.

FIG. 4 is a structural schematic diagram of a cable assembly of a differential mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of the structure of the guide wheel according to the embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a pretensioning device according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of the working principle when the servo motor 211#1 and the servo motor 211#2 rotate clockwise at the same speed in the embodiment of the present invention.

Fig. 8 is a schematic diagram of the working principle when the servo motor 211#1 and the servo motor 211#2 rotate counterclockwise at the same speed in the embodiment of the present invention.

9 is a schematic diagram of the working principle when the servo motor 211#1 rotates clockwise and the servo motor 211#2 rotates counterclockwise at a constant speed in the embodiment of the present invention.

Fig. 10 is a schematic diagram of the working principle when the servo motor 211#1 rotates counterclockwise and the servo motor 211#2 rotates clockwise at a constant speed in the embodiment of the present invention.

Legend: 1. Platform body; 11. Base pad; 12. Connecting frame; 13. Compression nut; 2. Drive unit; 21. Drive motor module; 211. Servo motor; 212. Harmonic reducer; 213 , flexible cable pulley; 214, first transmission flexible cable; 3, azimuth shafting; 30, rotary shaft; 301, motor frame; 302, expansion sleeve; 31, rotary frame; 311, rotary frame bearing; 312, bearing Outer ring pressure plate; 32, rotary combined wheel; 321, rotary combined large wheel; 322, rotary combined small wheel; 323, rotary combined wheel bearing; 4, pitch shafting; 41, pitch frame; 42, pitch wheel; 421, pitch Axle; 422, pitch wheel bearing; 43, load frame; 5, differential mechanism; 51, second transmission cable; 52, third transmission cable; 53, guide wheel; 531, guide wheel shaft; 532, pulley; 533 , Retaining ring for shaft; 534, Nut; 6, Pre-tightening device; 61, Pressing plate; 62, Screw; 63, Pre-tightening end block; 64, Disc spring; 7, Detection unit; device.

detailed description

As shown in Fig. 1 and Fig. 2, the stable platform based on the differential structure of flexible cable transmission in this embodiment includes a platform body 1, a drive unit 2 and a differential mechanism 5, and the differential mechanism 5 includes an azimuth axis system 3 and a pitch axis system 4 And the cable assembly, the azimuth axis system 3 and the pitch axis system 4 are driven by the cable assembly, the azimuth axis system 3 is rotatably arranged on the platform body 1, and the pitch axis system 4 is rotatably arranged on the azimuth axis system 3 and connected to the azimuth axis The axes of the system 3 are orthogonal, and the output end of the drive unit 2 is in transmission connection with the azimuth shaft system 3 .

As shown in Figure 1, a detection unit 7 is also provided on the azimuth axis system 3 and the pitch axis system 4, and the detection unit 7 includes a gyro 71 and an encoder 72, and the gyro 71 is installed on the load frame 43 of the pitch axis system 4 , the encoder 72 is mounted on the shaft ends of the rotary shaft 30 of the azimuth shaft system 3 and the pitch wheel shaft 421 of the pitch shaft system 4 . The gyroscope 71 is a measuring element of the inertial space angular velocity of the sensitive carrier, which is used for system stability control; the encoder 72 is the angular velocity and angular position information measurement feedback element of the corresponding rotating shaft.

In this embodiment, the platform body 1 is composed of a base pad 11, a connecting frame 12 and other parts, the base pad 11 is a transition piece used to reserve the base space, and the connecting frame 12 is a link between the carrier and the stable platform mechanical body. between connectors.

As shown in Figure 2, the azimuth shaft system 3 includes a rotary shaft 30, a rotary frame 31, and a rotary combination wheel 32. Two revolving frame bearings 311 are installed on the revolving shaft 30, and the drive unit 2 includes two groups of driving motor modules 21 installed in reverse on the revolving shaft 30 and arranged in the revolving frame 31. The revolving frame 31 is coaxially arranged with upper , the next two rotary combined wheels 32, the rotary combined wheel 32 is made up of a rotary combined large wheel 321 and a rotary combined small wheel 322 coaxially arranged, and the rotary combined large wheel 321 and the rotary combined small wheel 322 are installed through a rotary combined wheel bearing 323 On the rotary shaft 30, two groups of driving motor modules 21 are respectively connected with the rotary combined small wheel 322 of a rotary combined wheel 32 through the first transmission flexible cable 214, and the outer wall of the rotary combined large wheel 321 is provided with a wheel groove, flexible The cable assembly is arranged between the large slewing combined wheel 321 of the two slewing combined wheels 32 and the pitch shafting 4 . The rotary shaft 30 is fixed on the connecting frame 12, and the rotary frame 31 can freely rotate around the rotary shaft 30 through the upper and lower rotary frame bearings 311, which is the executive part of the rotary azimuth movement of the system; the upper and lower rotary combined wheels 32 are in the The rotary shaft 30 is axially fixed, and is free to rotate around the rotary shaft 30 through the rotary combined wheel bearings 323 respectively, and is a power transmission and conversion component; in this embodiment, the encoder 72 is fixed to the rotary frame 31 by an encoder support frame 721 and screws superior. Based on the consideration of system assembly, the slewing frame 31 in this embodiment is a spliced structure, symmetrically divided left and right, and connected by bolts.

In this embodiment, the slewing frame bearing 311 is a four-point contact ball bearing, and the upper and lower slewing frame bearings 311 are provided with bearing outer ring pressure plates 312, and the slewing frame bearing 311 is fixed by the bearing outer ring pressure plates 312.

As shown in Figure 2, a motor frame 301 is assembled on the rotary shaft 30, and the driving motor module 21 includes a servo motor 211, a harmonic reducer 212 and a cable pulley 213, and the servo motors 211 of the two groups of driving motor modules 21 are respectively reversed. Installed on the motor frame 301, and the output end of the servo motor 211 is connected with the flexible cable wheel 213 through the harmonic reducer 212, and the outer wall of the flexible cable wheel 213 and the rotary combination small wheel 322 is provided with a wheel groove, and the first The transmission flexible cable 214 is wound between the flexible cable pulley 213 and the rotary combined small wheel 322 . The drive motor module 21 in this embodiment is driven by a servo motor 211 instead of a traditional torque motor, which can effectively reduce the volume and weight of the drive and transmission system, taking into account the high torque and light weight of the system. In this embodiment, the drive unit 2 includes two groups of driving motor modules 21 installed in reverse on the rotary shaft 30 and arranged in the rotary frame 31, and the servo motors 211 of the two groups of driving motor modules 21 are installed in reverse on the motor frame 301 respectively. In this way, the differential output of the drive unit 2 is realized. The essence of the differential mechanism 5 is that the servo motors 211 are driven in parallel, and the output torque is amplified and synthesized before distribution, and the torque adjustment range is improved, which is beneficial to the integration and modularization of the drive components. design.

In this embodiment, the servo motor 211 and the harmonic reducer 212 are fixed on the motor frame 301 by screws, and the motor frame 301 is installed and fixed on the rotary shaft 30 by the expansion sleeve 302 .

As shown in Figure 3, the first transmission flexible cable 214 loops in the shape of 8 and passes through the flexible cable wheel 213 and the rotary combination small wheel 322, thereby ensuring the stable and reliable transmission between the flexible cable wheel 213 and the rotary combination small wheel 322, and then The driving torque of the servo motor 211 is transmitted to the rotary combination wheel 32 stably and reliably.

The pitch axis system 4 is completely symmetrical from left to right. As shown in Figures 2 and 4, the pitching shaft system 4 includes a pitching frame 41, a load frame 43, and two pitching wheels 42 symmetrically arranged in the rotary frame 31 along the rotary axis 30, and the outer walls of the pitching wheels 42 are provided with wheels. Groove, the cable assembly 5 is arranged between the rotary combination bull wheel 321 and the pitch wheel 42, the pitch wheel shafts 421 of the two pitch wheels 42 are installed on the rotary frame 31 through the pitch wheel bearings 422 respectively, and the pitch frame 41 is arranged on the rotary frame 31 The outside is fixedly connected with two pitching axles 421 , and the load frame 43 is installed on the pitching frame 41 . The pitching wheel 42 is a power transmission part in the pitching direction; in the present embodiment, the pitching wheel bearing 422 adopts angular contact ball bearings to be installed in a "face-to-face" manner, the pitching wheel shaft 421 and the pitching frame 41 transmit power through keys, and the load frame 43 is a load mounting The position of the load is reserved, and the load mounting screw hole is reserved, which is fastened with the pitch frame 41 by screws. The installation position of the load frame 43 can be adjusted to adapt to different loads, improve the eccentricity of the rotating mass, and break through the load frame 43 in the form of a load external structure. It breaks the constraints of the traditional platform for a single load, facilitates the disassembly and replacement of the load, and improves the adaptability of the platform.

As shown in Figure 4, the flexible cable assembly includes the second transmission flexible cable 51 and the third transmission flexible cable 52 and a plurality of guide wheels 53 with wheel grooves, and two pre-tensioning devices 6 are arranged on the rotary combination bull wheel 321, Both the second transmission flexible cable 51 and the third transmission flexible cable 52 are arranged around the two rotary combination bull wheels 321 through a plurality of guide wheels 53, and both ends are fixed by the pretensioning device 6, and the second transmission flexible cable 51 starts from the Starting from the rotary combined large wheel 321 at the upper end, the two guide wheels 53 (53#1 and 53#2) which are perpendicular to the axial direction are smoothly transitioned to a pitch wheel 42 and wound around the pitch wheel 42 for one turn, Then along the axially orthogonal two guide wheels 53 (53#3 and 53#4) smoothly transition to the rotary combination bull wheel 321 at the lower end; the third transmission flexible cable 52 starts from the rotary combination bullwheel 321 at the lower end, Along the three guide wheels 53 (53#5, 53#6 and 53#7) smooth transition to another pitch wheel 42 and after winding around the pitch wheel 42, then along the three guide wheels 53 (53#7) #8, 53#9 and 53#10) smoothly transition to the upper rotary combination bull wheel 321, thereby realizing the differential flexible cable transmission, making the transmission between the azimuth shaft system 3 and the pitch shaft system 4 stable and reliable, and the differential The moving mechanism 5 utilizes the characteristics of low backlash and high rigidity of the flexible cable assembly, thereby ensuring the accuracy of the stable platform.

In this embodiment, the first transmission flexible cable 214 , the second transmission flexible cable 51 and the third transmission flexible cable 52 are specifically steel wire ropes. It can be seen from the foregoing that in this embodiment, four sections of wire ropes (the second transmission cable 51, the third transmission cable 52, and two sections of the first transmission cable 214) are wound in a certain way and reliably pre-tightened to realize power transmission.

The guide wheel 53 is used to ensure that the steel wire rope (the second transmission flexible cable 51 and the third transmission flexible cable 52) is smoothly transitioned from the rotary combination bull wheel 321 to the pitch wheel 42. As shown in Figure 5, the guide wheel 53 includes a guide wheel shaft 531, a shaft Use a circlip 533 and a pulley 532 with a pulley groove, the pulley 532 is sleeved and installed on the guide wheel shaft 531 and the end is limited and fixed by the circlip 533 for the shaft, and the guide wheel shaft 531 is installed and fixed on the revolving frame 31 through a nut 534 . The structural design of the guide wheel 53 ensures the smooth winding and smooth transition of the second transmission cable 51 and the third transmission cable 52 between the intersecting wheel trains, so that the transmission medium of the second transmission cable 51 and the third transmission cable 52 can be realized. Efficient power transmission of intersecting shaft gear train.

The pretensioning device 6 is used to fix and pretighten the ends of the steel wire rope (the second transmission flexible cable 51 and the third transmission flexible cable 52). As shown in Figure 6, the pretensioning device 6 includes a pressing plate 61, a screw rod 62, The pre-tightened end block 63 and disc spring 64, the pressing plate 61 is installed on the rotary combination bull wheel 321 through the connector, the pressing plate 61 is provided with a through hole, and the screw rod 62 is threaded with the pre-tightening end block 63 after passing through the through hole of the pressing plate 61 Connection, the bottom surface of the pre-tightening end block 63 is in contact with the side surface of the rotary combination bull wheel 321 installed on the pressure plate 61, the disc spring 64 is arranged between the through-hole end surface of the pressure plate 61 and the screw rod 62, the pre-tightening end block 63 and the second The ends of the transmission flexible cable 51 or the third transmission flexible cable 52 are connected.

In this embodiment, the servo motor 211 adopts the same model, the harmonic reducer 212 has a reduction ratio i ₀ ; the radius r ₁ of the flexible cable wheel 213, the radius r ₂ of the rotary combination small wheel 322, and the radius of the rotary combination large wheel 321 r ₃ , the radius r ₄ of the pitch wheel 42, take the transmission ratio i ₁ =r ₂ /r ₁ , and the transmission ratio i ₂ =r ₄ /r ₃ , then the kinematic equation of the stable platform satisfies formula (1):

In formula (1), Ω _O represents the output angular velocity matrix of the load end, ω _Y , ω _X represent the angular velocity output in the pitch direction and rotation direction of the platform respectively; Ω _I represents the output speed matrix of the motor shaft, where ω ₁ and ω ₂ represent the servo The output rotational speeds of the motor 21 and the servo motor 22; Γ _Ω represents the speed transformation matrix.

In the following, the two servo motors 211 will be respectively marked as servo motor 211#1 and servo motor 211#2 as an example, and the movement direction of the motor shown in Figure 7 will be defined as clockwise, which is stable for the differential structure based on flexible cable transmission in this embodiment. The working principle of the platform is explained as follows:

As shown in FIG. 7, when the servo motor 211#1 and the servo motor 211#2 rotate clockwise at a constant speed, the cable pulley 213#1 and the cable pulley 213#2 move clockwise at a constant speed. Under the action of the torque transmission of the first transmission cable 214, the upper rotary combined small wheel 322#1 and the lower rotary combined small wheel 322#2 move counterclockwise at the same speed, and pass through the second transmission flexible cable 51 and the transmission of the third transmission flexible cable 52 and the guiding and reversing of the guide wheel, the power is transmitted to the pitching wheel 42, the circumferential force of the guiding wheel 53 is balanced, and it remains stationary relative to the pitching axis, and drives the revolving frame 31 under the action of the radial couple It moves around the rotary axis 30 to realize the counterclockwise motion output in the azimuth direction.

As shown in FIG. 8, when the servo motor 211#1 and the servo motor 211#2 rotate counterclockwise at a constant speed, the cable pulley 213#1 and the cable pulley 213#2 move counterclockwise at a constant speed. Under the action of the torque transmission of the first transmission cable 214, the upper rotary combination small wheel 322#1 and the lower rotary combination small wheel 322#2 move clockwise at a constant speed, passing through the second transmission cable 51 and the transmission of the third transmission flexible cable 52 and the guiding and reversing of the guide wheel, the power is transmitted to the pitching wheel 42, the circumferential force of the guiding wheel 53 is balanced, and it remains stationary relative to the pitching axis, and drives the revolving frame 31 under the action of the radial couple It moves around the rotary axis 30 to realize clockwise motion output in the azimuth direction.

As shown in Figure 9, when the servo motor 211#1 rotates clockwise and the servo motor 211#2 rotates counterclockwise at a constant speed, the cable pulley 213#1 rotates clockwise, and the cable pulley 213#2 rotates at a constant speed. Movement in a counterclockwise direction. Under the action of the torque transmission of the first transmission cable 214, the upper rotary combination small wheel 322#1 moves counterclockwise, and the lower rotary combination small wheel 322#2 moves clockwise at a constant speed. The transmission of the second transmission flexible cable 51 and the third transmission flexible cable 52 and the guidance and reversing of the guide wheel, the power is transmitted to the pitch wheel 42, the circumferential force of the guide wheel 53 is balanced, and it remains stationary relative to the pitch axis, and the circumferential direction acts on the driving force. The bottom drives the slewing frame 31 to rotate around the pitch axis to realize counterclockwise motion output in the pitch direction.

As shown in Figure 10, when the servo motor 211#1 rotates counterclockwise and the servo motor 211#2 rotates clockwise at a constant speed, the cable pulley 213#1 rotates counterclockwise, and the cable pulley 213#2 rotates clockwise at a constant speed. Clockwise movement. Under the action of the torque transmission of the first transmission cable 214, the upper rotary combined small wheel 322#1 moves clockwise, and the lower rotary combined small wheel 322#2 moves counterclockwise at a constant speed. The transmission of the second transmission flexible cable 51 and the third transmission flexible cable 52 and the guidance and reversing of the guide wheel, the power is transmitted to the pitch wheel 42, the circumferential force of the guide wheel 53 is balanced, and it remains stationary relative to the pitch axis, and the circumferential direction acts on the driving force. The bottom drives the slewing frame 31 to rotate around the pitch axis to realize clockwise motion output in the pitch direction.

It should be noted that when the servo motor 211#1 and the servo motor 211#2 are output at different speeds, the differential structural stabilization platform based on the flexible cable drive in this embodiment can also realize synchronous motion in the azimuth direction and the pitch direction, However, its motion control needs to be further coordinated with a specific decoupling control algorithm.

The above descriptions are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.

Claims (10)

1. a kind of difference structure stabilized platform being driven based on flexible cable, it is characterised in that：Including platform body (1), driver element (2) and differential attachment (5), the differential attachment (5) includes azimuth axle (3) and pitching shafting (4) and flexible cable component, described Azimuth axle (3), pitching shafting are driven between (4) by flexible cable component, and the azimuth axle (3) rotates and is arranged in platform body (1) on, the pitching shafting (4) rotate be arranged on azimuth axle (3) and with azimuth axle (3) axis vertical take-off, the driving Output end and azimuth axle (3) transmission of unit (2) connect.

2. the difference structure stabilized platform according to claim 1 being driven based on flexible cable, it is characterised in that：The azimuth axis It is that (3) include gyroaxis (30), revolution frame (31) and revolution combination wheel (32), the gyroaxis (30) and platform body (1) are solid Even, the revolution frame (31) is arranged on gyroaxis (30) by upper and lower two revolution frame bearings (311) respectively, the driving Unit (2) includes being reversibly mounted on gyroaxis (30) and being arranged in two groups of motor modules (21) in revolution frame (31), Coaxially arranged respectively in the revolution frame (31) to have upper and lower two revolution combination wheels (32), the revolution combination wheel (32) is by same Bull wheel (321) and revolution combination steamboat (322) composition are combined in the revolution of axle arrangement, and the revolution is combined bull wheel (321) and returned Turn combination steamboat (322) and be arranged on by turning round combination wheel bearing (323) on gyroaxis (30), two groups of motor modules (21) respectively combine steamboat (322) with the revolution of a revolution combination wheel (32) and pass through first transmission flexible cable (214) drive connection, institute Race is equipped with the outer wall for stating revolution combination bull wheel (321), the flexible cable component is arranged in two and turns round combination wheel (32) Between revolution combination bull wheel (321) and pitching shafting (4).

3. the difference structure stabilized platform according to claim 2 being driven based on flexible cable, it is characterised in that：The revolution frame Bearing (311) is four-point contact ball.

4. the difference structure stabilized platform according to claim 2 being driven based on flexible cable, it is characterised in that：The gyroaxis (30) electric motor stand (301) is equipped with, the motor module (21) includes servomotor (211), harmonic speed reducer (212) and flexible cable wheel (213), the servomotor (211) of two groups of motor modules (21) is reversibly mounted on electric motor stand respectively (301) on, and the output end of the servomotor (211) is connected by harmonic speed reducer (212) with flexible cable wheel (213), described Race, and described first transmission flexible cable (214) winding are equipped with the outer wall of flexible cable wheel (213) and revolution combination steamboat (322) Between flexible cable wheel (213) and revolution combination steamboat (322).

5. the difference structure stabilized platform according to claim 4 being driven based on flexible cable, it is characterised in that：Described first passes Dynamic flexible cable (214) is unrolled by flexible cable wheel (213) and revolution combination steamboat (322) in 8-shaped.

6. the difference structure stabilized platform according to claim 2 being driven based on flexible cable, it is characterised in that：The pitch axis System (4) includes pitching frame (41), load frame (43) and is symmetrically arranged in two pitching in revolution frame (31) along gyroaxis (30) Take turns (42), be equipped with race on the outer wall of the pitching wheel (42), the flexible cable component be arranged in revolution combination bull wheel (321) and Between pitching wheel (42), the pitching wheel shaft (421) of two pitching wheels (42) is arranged on revolution by pitching wheel bearing (422) respectively On frame (31), the pitching frame (41) is fixedly connected located at revolution frame (31) outside and with two pitching wheel shafts (421), described negative Carrier (43) is installed on pitching frame (41).

7. the difference structure stabilized platform according to claim 6 being driven based on flexible cable, it is characterised in that：The flexible cable group Part includes the second transmission flexible cable (51) and the 3rd transmission flexible cable (52) and multiple directive wheels (53) with race, the revolution group Bull wheel (321) is closed provided with two pre-tightening apparatus (6), the second transmission flexible cable (51) and the 3rd transmission flexible cable (52) pass through Multiple directive wheels (53) around being arranged between two revolution combinations bull wheels (321) and two ends are fixed by pre-tightening apparatus (6), The second transmission flexible cable (51) is from the revolution of upper end combination bull wheel (321)s, successively axially orthogonal two guiding Wheel (53) is smoothly transitted on a pitching wheel (42) and after the circle of the pitching wheel (42) winding one, further along axially orthogonal two Individual directive wheel (53) is smoothly transitted into the revolution combination bull wheel (321) of lower end；3rd transmission flexible cable (52) the returning from lower end Turn combination bull wheel (321) to set out, be smoothly transitted into successively along three directive wheels (53) on another pitching wheel (42) and around this After the circle of pitching wheel (42) winding one, bull wheel (321) is combined in the revolution for being smoothly transitted into upper end further along three directive wheels (53).

8. the difference structure stabilized platform according to claim 7 being driven based on flexible cable, it is characterised in that：The directive wheel (53) pulley (532) of guide wheel shaft (531), circlip for shaft (533) and pulley groove is included, the pulley (532) is arranged On guide wheel shaft (531) and end is by circlip for shaft (533) spacing fixation, the guide wheel shaft (531) is led to Nut (534) is crossed to be fixed on revolution frame (31).

9. the difference structure stabilized platform according to claim 7 being driven based on flexible cable, it is characterised in that：The pretension dress Putting (6) includes pressing plate (61), screw rod (62), pretension end block (63) and disk spring (64), and the pressing plate (61) passes through connector On revolution combination bull wheel (321), the pressing plate (61) is provided with through hole, and the screw rod (62) is led to through pressing plate (61) Kong Houyu pretensions end block (63) is threadedly coupled, and the revolution combination that the bottom surface of the pretension end block (63) and pressing plate (61) are installed is big The contacts side surfaces of (321) are taken turns, the disk spring (64) is arranged between the through hole end face of pressing plate (61) and screw rod (62), described Pretension end block (63) is connected with the end of the second transmission flexible cable (51) or the 3rd transmission flexible cable (52).

10. the difference structure stabilized platform according to claim 1 being driven based on flexible cable, it is characterised in that：The orientation Detection unit (7) is additionally provided with shafting (3), pitching shafting (4), the detection unit (7) includes gyro (71) and encoder (72), the gyro (71) is installed in the load frame of pitching shafting (4) (43), and the encoder (72) is arranged on azimuth axle (3) gyroaxis (30) and pitching wheel shaft (421) shaft end of pitching shafting (4).