CN110878897B - A high-precision, lightweight and compact three-axis stabilized platform - Google Patents
A high-precision, lightweight and compact three-axis stabilized platform Download PDFInfo
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- CN110878897B CN110878897B CN201911280356.4A CN201911280356A CN110878897B CN 110878897 B CN110878897 B CN 110878897B CN 201911280356 A CN201911280356 A CN 201911280356A CN 110878897 B CN110878897 B CN 110878897B
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- 239000003638 chemical reducing agent Substances 0.000 claims description 61
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- 239000000835 fiber Substances 0.000 claims description 7
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- 239000006096 absorbing agent Substances 0.000 claims description 5
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- 238000003825 pressing Methods 0.000 claims description 5
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- 238000003384 imaging method Methods 0.000 description 1
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- 238000012805 post-processing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- 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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- 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
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- 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
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
一种高精度轻小型三轴稳定平台，属于航空照相技术领域，包括偏流组件、俯仰组件和横滚组件。偏流组件和俯仰组件通过轴承结构件相连，俯仰组件和横滚组件通过轴承结构件相连，整体结构紧凑，体积小，质量轻，安装方便，承载能力强，稳定精度高，能够适应各种航空遥感器的作业要求，尤其对于小型无人机，其应用时表现卓越。
A high-precision, light and small three-axis stabilized platform belongs to the field of aerial photography technology, and includes a bias flow assembly, a pitch assembly and a roll assembly. The bias flow assembly and the pitch assembly are connected by a bearing structure, and the pitch assembly and the roll assembly are connected by a bearing structure. The overall structure is compact, small in size, light in weight, easy to install, strong in load-bearing capacity, and high in stability and precision. It can meet the operating requirements of various aerial remote sensors, especially for small unmanned aerial vehicles, and its application performance is excellent.
Description
Technical Field
The invention belongs to the technical field of aerial photography, and relates to a high-precision light and small triaxial stabilized platform.
Background
With the vigorous development of China's economy, the problems of territory investigation, resource protection, sudden disaster control, environmental protection and the like are more and more emphasized, corresponding activities are more and more, the aerial remote sensor adopts small unmanned aerial vehicle, and the unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is small in size and light in weight, only can carry a load with smaller quality, a photographic system carried by the unmanned aerial vehicle has no self-stabilizing function, is greatly influenced by the attitude and the working environment of an airplane, the unmanned aerial vehicle flies in an airspace below 6000 m, the airspace air flow is relatively unstable, the severe vibration of the airplane can be caused, the included angle between the airplane and the ground is continuously changed, the change of the airplane attitude can also cause the continuous change of the included angle between the photographic system and the ground, when the included angle is greatly changed, the overlapping rate between the acquired images is too low, the whole images are not continuous, the images cannot be completely spliced when the images are subjected to post-processing, the effectiveness of the acquired images is greatly reduced, even the flight task fails, the stable light and the small triaxial stable and high in precision is necessary, the stable and the stable precision is always can be ensured, the photographic system is always in the process of being perpendicular to the ground, the imaging task is ensured, the stability of the photographic system is ensured, and the accuracy is stable and the image information is always stable in the process in the ground.
The three-axis stabilized platform is large in size, heavy in weight and weak in bearing capacity, the requirements of most of existing small unmanned aerial vehicles on task loads cannot be met, the three-axis stabilized platform is large in size, the small unmanned aerial vehicle cannot be installed, the three-axis stabilized platform is heavy in weight, the small unmanned aerial vehicle is small in weight and weak in bearing capacity, the use of a camera system is limited, only the camera system with light weight can be installed, various task loads cannot be used at the same time, the whole aviation system is single in function, and time and money cost are increased. According to the characteristics of the small unmanned aerial vehicle, the high-precision light small three-axis stable platform with small volume, light weight and strong bearing capacity is invented, the structure is relatively simple and compact, and the reliability is high, so that the use requirements of most of the existing small unmanned aerial vehicles are met.
Disclosure of Invention
The invention aims to solve the problems that the traditional triaxial stabilized platform is large in size, heavy in weight and weak in bearing capacity, and is difficult to meet the requirements of the existing small unmanned aerial vehicle on miniaturization and light weight of task loads, and provides the triaxial stabilized platform which is compact in structure, small in size, light in weight and strong in bearing capacity.
A triaxial stabilized platform comprises a drift assembly, a pitch assembly and a roll assembly.
The drift subassembly is installed on every single move subassembly, uses every single move axle and bearing inner ring gland to act on simultaneously through both ends, and the mode of compressing tightly ball bearing inner ring makes both link to each other, and every single move subassembly is installed on the roll subassembly, uses bearing inner ring gland and roll axle to act on simultaneously through both ends, and the mode of compressing tightly ball bearing inner ring makes both link to each other.
The bias current assembly comprises a bias current inner frame, a bias current outer frame upper frame, a bias current outer frame lower frame, a bias current bearing assembly, a first speed reducer driving assembly, a ball bearing, a triaxial fiber optic gyroscope, a first zero position proximity switch sensed piece, a first zero position proximity switch, a bearing outer ring gland, a bias current mechanical limit column, a synchronous driving belt, a bias current driven gear, a pitching mechanical limit column, a pitching driven gear and a first speed reducer driving assembly protective cover;
The device comprises a bias outer frame upper frame, a bias outer frame lower frame and a bias inner frame, wherein the bias outer frame upper frame, the bias outer frame lower frame and the bias inner frame are made of aviation super-hard aluminum materials for stabilization treatment, the assembly is firm, the sufficient strength and rigidity are ensured, ball bearings are installed in the bias outer frame lower frame, ball bearing outer rings are pressed through bearing outer ring pressing covers, bias bearing assemblies are respectively installed between the bias inner frame and the bias outer frame upper frame and between the bias inner frame and the bias outer frame lower frame, a first speed reducer driving assembly is installed on the bias outer frame lower frame and drives a bias driven gear through a synchronous transmission belt, a bias mechanical limiting column is installed in the bias outer frame lower frame, a pitching mechanical limiting column is installed in the bias outer frame lower frame, a triaxial fiber optic gyroscope is installed in the outer frame lower frame, simultaneously, three shafting postures, angular speeds and angular accelerations in an inertial space are sensed, a first zero-position approach switch is installed in the bias outer frame lower frame, the control of the platform bias motion is realized by sensing the real-time position of a sensed piece in the rotation process of the first approach switch, the first speed reducer driving assembly is installed on the first speed reducer driving assembly, and the pitching mechanical limiting column is installed on the first speed reducer driving assembly.
The bias current bearing assembly comprises precise steel balls, a bearing outer ring steel sleeve, a bearing inner ring steel sleeve and bearing retainers, wherein the bearing outer ring steel sleeve is respectively arranged in the lower end face of an upper frame inner ring of a bias current outer frame and the upper end face of a lower frame inner ring of the bias current outer frame, the bearing inner ring steel sleeve is respectively arranged in the upper end face and the lower end face of an outer ring of the bias current inner frame, the two bearing retainers are respectively arranged in the two groups of bearing outer ring steel sleeves and the bearing inner ring steel sleeve, and the precise steel balls are arranged in the bearing retainers.
The bearing outer ring steel sleeve and the bearing inner ring steel sleeve are made of aviation steel materials.
The first speed reducer driving assembly, the second speed reducer driving assembly and the third speed reducer driving assembly comprise driving gears, speed reducers and torque motors, the speed reducers are arranged on the torque motors, the driving gears are arranged on the speed reducers, and the torque motors drive the driving gears through the speed reduction action of the speed reducers.
The pitching assembly comprises a second speed reducer driving assembly, a second zero-position proximity switch, a third speed reducer driving assembly, a third zero-position proximity switch, a pitching shaft, a pitching frame, a bearing inner ring gland, a transverse rolling shaft and an upper shell, wherein the second speed reducer driving assembly, the second zero-position proximity switch, the third speed reducer driving assembly, the third zero-position proximity switch, the pitching shaft, the transverse rolling shaft and the upper shell are respectively arranged on the pitching frame, the bearing inner ring gland is respectively arranged on the pitching shaft and the transverse rolling shaft, the ball bearing inner ring is tightly pressed, the real-time position of a pitching driven gear in the rotation process is sensed through the second zero-position proximity switch, the control of the platform motion is realized, and the real-time position of the transverse rolling driven gear in the rotation process is sensed through the third zero-position proximity switch, so that the control of the platform transverse rolling motion is realized.
The handle is arranged on two sides of the rolling frame, so that a platform can be carried under the condition that the structure is not damaged, the rolling bearing support, the rolling driven gear support, the rolling mechanical limit column and the shock absorber are respectively arranged on the rolling frame, the shock absorber can effectively isolate high-frequency vibration, the ball bearing is arranged in the rolling bearing support, the ball bearing outer ring is pressed through the bearing outer ring gland, and the rolling driven gear is arranged on the rolling driven gear support.
The invention has the beneficial effects that:
1. The bias current bearing mechanism adopts a special structural form, the bearing outer ring steel sleeve is inlaid into the bias current outer frame upper frame and the bias current outer frame lower frame in a special processing mode, so that gaps and relative motions are avoided between the bearing outer ring steel sleeve and the bias current inner frame, the bearing inner ring steel sleeve is inlaid into the bias current inner frame in the same processing mode, and the bearing mechanism is formed by installing high-precision steel balls and the bearing retainer in the bearing inner frame, wherein the bias current outer frame upper frame, the bias current outer frame lower frame and the bias current inner frame are not only main supporting structures of a triaxial stable platform, but also main supporting structures of bearings, the mass and the volume of the platform can be greatly reduced, the bearing capacity of the bearings can be randomly adjusted by adjusting the number of the steel balls, and the characteristics of compact structure, light mass, small volume and strong bearing capacity of the platform are ensured.
2. According to the invention, the synchronous driving belt is driven by the speed reducer driving assembly, the synchronous driving belt drives the bias driven gear, and the bias driven gear is fastened with the bias inner frame, so that the driving mode of driving the bias shaft to rotate is realized, the rotating angle range of the bias shaft can be randomly regulated by regulating the length of the synchronous driving belt, the distance between the speed reducer driving assembly and the bias shaft frame is shortened to the greatest extent, the overall size and the overall quality of the triaxial stabilized platform are reduced, the structure is simple, and the installation is convenient, and only 4 screws are used for connection.
3. The sensor provided by the invention adopts 1 triaxial fiber-optic gyroscope, 1 first zero-position proximity switch, 1 second zero-position proximity switch and 1 third zero-position proximity switch, the triaxial fiber-optic gyroscope detects the postures, angular velocities and angular accelerations of three shafting in an inertial space, and the first zero-position proximity switch, the second zero-position proximity switch and the third zero-position proximity switch measure the rotation angle, so that the sensor can meet the stability precision requirement of a triaxial stabilized platform, is small in size, convenient to install, small in sensor quantity and low in price, and effectively reduces the cost while guaranteeing the performance of the triaxial stabilized platform.
4. The driving chain of the three-axis stable platform has the advantages that the driving chain passes through two-stage speed reduction effects, a torque motor in the bias bearing assembly drives the internal speed reducer of the assembly to complete a first-stage speed reduction effect, the driving gear drives the driven gear to complete a second-stage speed reduction effect, the product of the two-stage speed reduction ratios is used as a final speed reduction ratio, and under the condition of the same speed reduction ratio, the mass of the platform system is lighter, the volume is smaller, the bearing capacity is stronger, and the stable control requirement of the three-axis stable platform is met.
5. The driving motor adopts the torque motor, takes the driving motor, the speed reducer and the driving gear as an integral component, has the advantages of high integration level, simple structure, high transmission precision, large torque, small volume, light weight and the like, ensures that the three-axis stable platform has the mass of only 3kg, 2.2kg lighter than the advanced small platform CSM132 in the world, has the external dimension of 357mm long, 247mm wide and 110.5mm high, has stronger carrying capacity, can achieve 0-10kg of load mass and higher stability precision, and is more convenient and faster to install, and one end of the speed reducer driving component is directly arranged on the pitching frame and is connected through 4 screws.
6. The load mounting diameter of the invention isThe center of the pitching axis rotating shaft and the center of the rolling axis rotating shaft are positioned on the same horizontal plane and are mutually orthogonal, so that the mass center of the triaxial stabilized platform is positioned at the intersection point of the centers of the three rotating shafts, the mass eccentric influence of the triaxial stabilized platform is eliminated, and the control precision of the triaxial stabilized platform is optimized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a bias current assembly according to the present invention.
FIG. 3 is a schematic diagram of a bias current assembly according to the present invention.
FIG. 4 is a schematic view of a bias flow bearing assembly of the present invention.
Fig. 5 is a schematic diagram of a decelerator drive assembly of the present invention.
Fig. 6 is a schematic view of a pitch assembly of the present invention.
Fig. 7 is a schematic view of a roll assembly of the present invention.
The device comprises a 1-drift assembly, a 2-pitching assembly, a 3-rolling assembly, a 4-drift inner frame, a 5-drift outer frame upper frame, a 6-drift outer frame lower frame, a 7-drift bearing assembly, an 8-first speed reducer driving assembly, a 9-ball bearing, a 10-triaxial fiber optic gyroscope, an 11-first zero position proximity switch sensed piece, a 12-first zero position proximity switch, a 13-bearing outer ring gland, a 14-drift mechanical limit post, a 15-synchronous transmission belt, a 16-drift driven gear, a 17-pitch mechanical limit post, a 18-pitch driven gear, a 19-first speed reducer driving assembly protective cover, 20-precision steel balls, a 21-bearing outer ring steel sleeve, a 22-bearing inner ring steel sleeve, a 23-bearing retainer, a 24-driving gear, a 25-speed reducer, a 26-torque motor, a 27-pitch axis, a 28-second speed reducer driving assembly, a 29-second zero position proximity switch, a 30-pitch frame, a 31-bearing inner ring gland, a 32-rolling shaft, a 33-third zero position proximity switch, a 34-third speed reducer driving assembly, a 35-third speed reducer driving housing, a 37-rolling gear, a 37-rolling support, a 39-rolling support, a vibration damper, a 40-rolling support, a vibration reducer support, and a bearing support.
Detailed Description
As shown in fig. 1, a triaxial stabilized platform includes a bias current assembly 1, a pitch assembly 2 and a roll assembly 3.
The drift assembly 1 is installed on the pitching assembly 2, and is connected with the ball bearing 9 by pressing the inner ring of the ball bearing 9 through the simultaneous action of the pitching shaft 27 and the inner ring gland 31 at two ends, and the pitching assembly 2 is installed on the rolling assembly 3, and is connected with the ball bearing 9 by pressing the inner ring of the ball bearing 9 through the simultaneous action of the inner ring gland 31 and the rolling shaft 32 at two ends.
As shown in fig. 2 and 3, the bias current assembly 1 includes a bias current inner frame 4, a bias current outer frame upper frame 5, a bias current outer frame lower frame 6, a bias current bearing assembly 7, a first speed reducer driving assembly 8, a ball bearing 9, a triaxial fiber optic gyro 10, a first zero proximity switch sensed element 11, a first zero proximity switch 12, a bearing outer ring gland 13, a bias current mechanical limit post 14, a synchronous transmission belt 15, a bias current driven gear 16, a pitch mechanical limit post 17, a pitch driven gear 18, and a first speed reducer driving assembly protective cover 19;
The bias flow outer frame upper frame 5, the bias flow outer frame lower frame 6 and the bias flow inner frame 4 are made of aviation super-hard aluminum materials, so that the assembly is firm, and the bias flow outer frame upper frame, the bias flow outer frame lower frame and the bias flow inner frame 4 have enough strength and rigidity;
The ball bearing 9 is installed in the bias outer frame lower frame 6, the ball bearing 9 is pressed tightly through the bearing outer ring gland 13, the bias bearing assembly 7 is installed between the bias inner frame 4 and the bias outer frame upper frame 5 and between the bias inner frame 4 and the bias outer frame lower frame 6 respectively, the first speed reducer driving assembly 8 is installed on the bias outer frame lower frame 6, the bias driven gear 16 is driven through the synchronous transmission belt 15, the bias mechanical limiting column 14 is installed in the bias outer frame lower frame 6, the pitching mechanical limiting column 17 is installed in the bias outer frame lower frame 6, the triaxial fiber optic gyroscope 10 is installed in the bias outer frame lower frame 6, simultaneously, the gesture, the angular velocity and the angular acceleration of three shafting in the inertia space are sensed, the first zero-position proximity switch 12 is installed in the bias outer frame lower frame 6, the control of the bias motion of the platform is realized through sensing the real-time position of the first zero-position proximity switch sensed piece 11 in the rotating process, the first speed reducer driving assembly protective cover 19 is installed on the first speed reducer driving assembly 8, and the pitching driven gear 18 is installed on the bias outer frame lower frame 6.
As shown in FIG. 4, the bias current bearing assembly 7 comprises a precise steel ball 20, an outer bearing ring steel sleeve 21, an inner bearing ring steel sleeve 22 and bearing retainers 23, wherein the outer bearing ring steel sleeve 21 is respectively arranged in the lower end face of the inner ring of the upper bias current outer frame 5 and the upper end face of the inner ring of the lower bias current outer frame 6, the inner bearing ring steel sleeve 22 is respectively arranged in the upper end face and the lower end face of the outer bearing ring of the inner bias current inner frame 4, the two bearing retainers 23 are respectively arranged in the two groups of outer bearing ring steel sleeves 21 and the inner bearing ring steel sleeve 22, and the precise steel ball 20 is arranged in the bearing retainers 23.
The bearing outer ring steel sleeve 21 and the bearing inner ring steel sleeve 22 are made of aviation steel materials.
As shown in fig. 5, the first speed reducer driving assembly 8, the second speed reducer driving assembly 28 and the third speed reducer driving assembly 34 comprise a driving gear 24, a speed reducer 25 and a torque motor 26, wherein the speed reducer 25 is arranged on the torque motor 26, the driving gear 24 is arranged on the speed reducer 25, and the torque motor 26 drives the driving gear 24 through the speed reduction action of the speed reducer 25.
As shown in fig. 6, the pitching assembly 2 comprises a pitching shaft 27, a second speed reducer driving assembly 28, a second zero-position proximity switch 29, a pitching frame 30, a bearing inner ring gland 31, a rolling shaft 32, a third zero-position proximity switch 33, a third speed reducer driving assembly 34 and an upper shell 35, wherein the pitching shaft 27, the second speed reducer driving assembly 28, the second zero-position proximity switch 29, the rolling shaft 32, the third zero-position proximity switch 33, the third speed reducer driving assembly 34 and the upper shell 35 are respectively arranged on the pitching frame 30, the bearing inner ring gland 31 is respectively arranged on the pitching shaft 27 and the rolling shaft 32, the inner ring of the ball bearing 9 is tightly pressed, the real-time position of the pitching driven gear 18 in the rotation process is sensed through the second zero-position proximity switch 29, the control of the platform pitching motion is realized, the real-time position of the rolling driven gear 38 in the rotation process is sensed through the third zero-position proximity switch 33, and the control of the platform rolling motion is realized.
As shown in fig. 7, the roll assembly 3 comprises a handle 36, a roll bearing support 37, a roll driven gear 38, a roll driven gear support 39, a roll frame 40, a roll mechanical limit post 41 and a damper 42, wherein the handle 36 is arranged at two sides of the roll frame 40, so that a platform can be conveniently carried without damaging the structure, the roll bearing support 37, the roll driven gear support 39, the roll mechanical limit post 41 and the damper 42 are respectively arranged on the roll frame 40, the damper 42 can effectively isolate high-frequency vibration, the ball bearing 9 is arranged in the roll bearing support 37, the ball bearing 9 is externally pressed through a bearing external ring gland 13, and the roll driven gear 38 is arranged on the roll driven gear support 39.
Claims (2)
1. The high-precision light and small triaxial stabilized platform is characterized by comprising a bias flow assembly (1), a pitching assembly (2) and a rolling assembly (3);
The drift assembly (1) is arranged on the pitching assembly (2), the pitching shaft (27) and the bearing inner ring gland (31) are simultaneously acted at two ends, the two are connected by pressing the inner ring of the ball bearing (9), the pitching assembly (2) is arranged on the rolling assembly (3), and the bearing inner ring gland (31) and the rolling shaft (32) are simultaneously acted at two ends, so that the two are connected by pressing the inner ring of the ball bearing (9);
The drift assembly (1) comprises a drift inner frame (4), a drift outer frame upper frame (5), a drift outer frame lower frame (6), a drift bearing assembly (7), a first speed reducer driving assembly (8), a ball bearing (9), a triaxial fiber optic gyroscope (10), a first zero position proximity switch sensed piece (11), a first zero position proximity switch (12), a bearing outer ring gland (13), a drift mechanical limit column (14), a synchronous transmission belt (15), a drift driven gear (16), a pitching mechanical limit column (17), a pitching driven gear (18) and a first speed reducer driving assembly protective cover (19), wherein the ball bearing (9) is arranged in the drift outer frame lower frame (6), the ball bearing (9) is tightly pressed through the bearing outer ring gland (13), the drift bearing assembly (7) is respectively arranged between the drift inner frame (4) and the drift inner frame upper frame (5) and between the drift outer frame lower frame (6), the first speed reducer driving assembly (8) is arranged on the outer frame lower frame (6) and is arranged in the drift outer frame lower frame (6) through the synchronous transmission belt (15) driving gear (16), the driven gear (14) is arranged in the drift outer frame lower frame (6) and the drift mechanical limit column (6), the three-axis fiber optic gyroscope (10) is arranged in the bias flow outer frame lower frame (6), simultaneously senses the posture, the angular speed and the angular acceleration of three shafting in an inertia space, the first zero-position proximity switch (12) is arranged in the bias flow outer frame lower frame (6), the control on the bias flow motion of the platform is realized by sensing the real-time position of a sensed piece (11) of the first zero-position proximity switch in the rotating process, the first speed reducer driving assembly protective cover (19) is arranged on the first speed reducer driving assembly (8), and the pitching driven gear (18) is arranged on the bias flow outer frame lower frame (6);
The bias current bearing assembly (7) comprises precise steel balls (20), a bearing outer ring steel sleeve (21), a bearing inner ring steel sleeve (22) and bearing retainers (23), wherein the bearing outer ring steel sleeve (21) is respectively arranged in the lower end face of the inner ring of the bias current outer frame upper frame (5) and the upper end face of the inner ring of the bias current outer frame lower frame (6), the bearing inner ring steel sleeve (22) is respectively arranged in the upper end face and the lower end face of the outer ring of the bias current inner frame (4), the two bearing retainers (23) are respectively arranged in the two groups of bearing outer ring steel sleeves (21) and the bearing inner ring steel sleeve (22), and the precise steel balls (20) are arranged in the bearing retainers (23);
The pitching assembly (2) comprises a pitching shaft (27), a second speed reducer driving assembly (28), a second zero-position proximity switch (29), a pitching frame (30), a bearing inner ring gland (31), a rolling shaft (32), a third zero-position proximity switch (33), a third speed reducer driving assembly (34) and an upper shell (35), wherein the pitching shaft (27), the second speed reducer driving assembly (28), the second zero-position proximity switch (29), the rolling shaft (32), the third zero-position proximity switch (33), the third speed reducer driving assembly (34) and the upper shell (35) are respectively arranged on the pitching frame (30), the bearing inner ring gland (31) is respectively arranged on the pitching shaft (27) and the rolling shaft (32), the inner ring of the ball bearing (9) is compressed, the real-time position of a pitching driven gear (18) in the rotating process is sensed through the second zero-position proximity switch (29), the real-time position of the rolling driven gear (38) in the rotating process is sensed through the third zero-position proximity switch (33), and the platform motion is controlled;
The rolling assembly (3) comprises a handle (36), a rolling bearing support (37), a rolling driven gear (38), a rolling driven gear support (39), a rolling frame (40), rolling mechanical limit columns (41) and a shock absorber (42), wherein the handle (36) is arranged on two sides of the rolling frame (40), is beneficial to carrying a platform under the condition that the structure is not damaged, the rolling bearing support (37), the rolling driven gear support (39), the rolling mechanical limit columns (41) and the shock absorber (42) are respectively arranged on the rolling frame (40), the shock absorber (42) can effectively isolate high-frequency vibration, a ball bearing (9) is arranged in the rolling bearing support (37), the ball bearing (9) is compressed by a bearing outer ring gland (13), and the rolling driven gear (38) is arranged on the rolling driven gear support (39);
The first speed reducer driving assembly (8), the second speed reducer driving assembly (28) and the third speed reducer driving assembly (34) comprise a driving gear (24), a speed reducer (25) and a torque motor (26), wherein the speed reducer (25) is arranged on the torque motor (26), the driving gear (24) is arranged on the speed reducer (25), and the torque motor (26) drives the driving gear (24) through the speed reduction effect of the speed reducer (25);
The bias flow outer frame upper frame (5), the bias flow outer frame lower frame (6) and the bias flow inner frame (4) are made of aviation super-hard aluminum materials.
2. The high-precision light and small triaxial stabilized platform according to claim 1, characterized in that the bearing outer ring steel sleeve (21) and the bearing inner ring steel sleeve (22) are made of aviation steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280356.4A CN110878897B (en) | 2019-12-13 | 2019-12-13 | A high-precision, lightweight and compact three-axis stabilized platform |
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