CN114941786B - A two-axis four-frame rotation mechanism based on flexible support and voice coil motor - Google Patents
A two-axis four-frame rotation mechanism based on flexible support and voice coil motor Download PDFInfo
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- CN114941786B CN114941786B CN202210809951.8A CN202210809951A CN114941786B CN 114941786 B CN114941786 B CN 114941786B CN 202210809951 A CN202210809951 A CN 202210809951A CN 114941786 B CN114941786 B CN 114941786B
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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
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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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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Abstract
本发明涉及一种基于柔性支撑和音圈电机组成的两轴四框架伺服转台，其中包括外框架方位驱动、外框架俯仰驱动、内框架方位驱动、内框架俯仰驱动四个部分；外俯仰和外方位采用无刷电机配合滚动轴承的设计，内方位和内俯仰采用音圈电机配合柔性支撑的设计，是回转运动的驱动组成部分，实现所在轴系方向的回转运动；四框架回转均配有角度传感器，采集角度信息，实现回转运动的精准控制；外框架与内框架之间通过减震器连接；本发明通过柔性支撑和音圈电机实现两轴的运动，转角度精准，工作带宽高；在有限的体积尺寸内，有效提高了电机出力，在伺服转台控制中，对带宽的提高提供了有力支撑；减少了零件数量，降低了装配时间，简化加工了过程。
The invention relates to a two-axis four-frame servo turntable based on flexible support and voice coil motor, which comprises four parts: outer frame azimuth drive, outer frame pitch drive, inner frame azimuth drive and inner frame pitch drive; outer pitch and outer azimuth adopt the design of brushless motor and rolling bearing, inner azimuth and inner pitch adopt the design of voice coil motor and flexible support, which are driving components of rotary motion and realize rotary motion in the direction of the axis system; four-frame rotation are all equipped with angle sensors to collect angle information and realize precise control of rotary motion; the outer frame and the inner frame are connected by shock absorbers; the invention realizes the motion of two axes through flexible support and voice coil motor, the rotation angle is precise and the working bandwidth is high; within a limited volume size, the motor output is effectively improved, and in the control of the servo turntable, a strong support is provided for the improvement of bandwidth; the number of parts is reduced, the assembly time is reduced, and the processing process is simplified.
Description
Technical Field
The invention belongs to the technical field of photoelectric platform mechanical design, and relates to a two-shaft four-frame rotating mechanism based on flexible support and voice coil motor.
Background
The main difference for the mechanical design of the system is the redesign of the internal pitch azimuth axis structure. The traditional shafting structure form has the problems of large shafting structure inertia and friction moment, so that the control system has serious nonlinearity, and has the defects of slow system response and low control precision. Aiming at the high requirement of the existing photoelectric system on the frequency response characteristic, the system is required to have no friction, small volume and compact structure, and the traditional rotating mechanism has high price, large volume, complex equipment and difficult maintenance.
The large-angle range rotation can be realized through the external shafting, and the accurate, rapid and low-cross-coupling two-axis rotation of the completion mechanism can be realized through the internal shafting.
Meanwhile, the traditional two-shaft rotating mechanism is partially designed based on a rolling bearing and a wireless brush motor, and is assembled by a motor and a shaft system, and meanwhile, an angle sensor is also installed in the axial direction. The axial distance increases, the actual load space is compressed, and the size is difficult to be reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a two-axis rotating mechanism based on a voice coil motor and a flexible support, which can realize low cross coupling rotation of two axes and has quick response performance.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme, and the technical scheme is as follows in combination with the accompanying drawings:
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to solve the technical problems, the two-shaft rotating mechanism based on the flexible support, the voice coil motor, the ball bearing, the brushless motor and the harmonic wheel reducer comprises an inner shaft system and an outer shaft system, wherein the outer shaft system comprises the brushless motor and the ball bearing. The internal azimuth and pitching axes are composed of a voice coil motor and a flexible support. The base in the external direction is connected with a carrier, an automobile, a ship and the like, and meanwhile, an external direction shaft is connected with the base in the external direction, a rolling bearing and a brushless motor, so that external direction driving is completed. Meanwhile, an angle sensor is arranged between the external azimuth axis and the external azimuth base, so that the rotation angle of the external azimuth can be accurately judged. The outer pitching frame is connected with the outer azimuth shaft, the outer pitching shaft is connected with the outer pitching frame, the rolling bearing and the brushless motor, and the outer pitching motor is connected with the harmonic wheel speed reducer to finish driving of outer pitching. The torque output can be satisfied and the structural space can be reduced. Meanwhile, an angle sensor is arranged between the outer pitching shaft and the outer pitching frame, so that the outer pitching rotation angle can be accurately judged. The external orientation adopts a rotating bearing and brushless motor driving to realize rotation on a large range of angles.
The shock absorber fixing seat is connected with the outer pitching frame through a shock absorber. High-frequency vibration can be filtered through the shock attenuation, and stable environment is provided for accurate location of inside shafting fast, little angle.
The inner azimuth frame is connected with the shock absorber through a flexible support, the voice coil motor is fixed on the shock absorber fixing seat, and the rotor is connected with the inner azimuth frame. And an angle sensor is arranged on the internal azimuth frame to detect the angle of the internal azimuth movement, so that accurate control is realized. The inner pitching frame is connected with the position frame through a flexible support, the voice coil motor is fixed on the inner azimuth frame, and the rotor is connected with the inner pitching frame. And an angle sensor is arranged on the inner pitching frame to detect the angle of the inner azimuth movement, so that accurate control is realized. The use of the voice coil motor provides a driving unit with smaller size and larger moment for structural design. The use of the flexible support provides a friction-free and free-return rotary support link for servo control, and the servo control effect is improved greatly.
A two-axis four-frame rotating mechanism based on flexible support and voice coil motor comprises an outer pitching axis system, an outer azimuth axis system, an inner pitching axis system and an inner azimuth axis system, wherein the outer pitching axis system and the outer azimuth axis system adopt a brushless motor and rolling bearing design, and the inner azimuth axis system and the inner pitching axis system adopt a voice coil motor and flexible support design;
The outer azimuth axis system is fixed, the outer pitching axis system is arranged on the outer azimuth axis system, the inner azimuth axis system is arranged on the outer pitching axis system, and the inner pitching axis system is arranged on the inner azimuth axis system.
Furthermore, the four shafting are provided with angle sensors, and the accurate control of angles is realized through the signals of the angle sensors.
Further, the external azimuth shafting comprises an external azimuth base 1.1, an external azimuth motor 1.2, a rotary bearing 1.3, an external azimuth shaft 1.4 and an azimuth angle sensor 1.6;
the outer azimuth shaft 1.4 is fixed on the outer azimuth base 1.1 through a rotary bearing 1.3 and a gland, the other end of the outer azimuth shaft 1.4 is fixed with a rotor of the outer azimuth motor 1.2 through a screw, a stator of the outer azimuth motor is fixed on the outer azimuth base 1.1, and an azimuth angle sensor 1.6 is arranged on an extension section of the outer azimuth shaft 1.4.
The two-shaft four-frame rotating mechanism based on the flexible support and the voice coil motor further comprises an outer pitching angle sensor 1.9 and an outer pitching bearing 1.11;
The output end of the outer azimuth shaft 1.4 is fixed on the outer pitching frame 1.5 through a screw, one side of the outer pitching frame 1.5 is used for fixing an outer pitching shaft 1.8 on the outer pitching frame 1.5 through an outer pitching bearing 1.11, an outer pitching angle sensor 1.9 is arranged on the outer pitching shaft 1.8, the other side of the outer pitching frame 1.5 is used for fixing an outer pitching shaft 1.8 on the outer pitching frame 1.5 through an outer pitching bearing 1.11, and one end of the outer pitching shaft 1.8 is connected with an outer pitching driving motor 1.7 through a screw;
The external azimuth base 1.1 is connected with an actual application scene, and the external azimuth shaft 1.4 is connected with the external azimuth base 1.1, the rotary bearing 1.3 and the external azimuth motor 1.2 to finish external azimuth driving;
an outer pitching angle sensor 1.9 is arranged between the outer azimuth shaft 1.4 and the outer azimuth base 1.1, the outer pitching frame 1.5 is connected with the outer azimuth shaft 1.4, and the outer pitching shaft 1.8 is connected with the outer pitching frame 1.5, the outer pitching bearing 1.11 and the outer pitching driving motor 1.7 so as to finish driving of outer pitching.
Further, the internal azimuth shafting comprises an inner frame 2.1, a shock absorber 2.2, an internal azimuth fixing seat 2.3 and an internal azimuth voice coil motor 2.4;
the outer pitching shaft 1.8 is connected with the inner frame 2.1 through screws so as to realize the connection of the inner frame and the outer frame.
The upper end and the lower end of the inner frame 2.1 are provided with symmetrical shock absorbers 2.2, and the inner azimuth fixing seat 2.3 is fixed on the shock absorbers 2.2 through screws;
Further, the inner pitching shaft system comprises a pitching frame side bearing fixing seat 2.8, an inner pitching frame 2.9, an inner pitching voice coil motor 2.10, an inner pitching flexible support fixing seat bearing 2.11, an inner pitching flexible support 2.12, a load side bearing fixing seat 2.13 and a load bracket 2.14;
The pitching frame side bearing fixing seat 2.8 is fixed on the flexible support 2.5 through pretensioning, and the pitching frame side bearing fixing seat 2.8 is fixed with the inner pitching frame 2.9 through screws;
The inner pitching frame 2.9 is provided with a driving force arm, the driving force arm is connected with a rotor of the inner azimuth voice coil motor 2.4 through a screw, and a stator of the voice coil motor is connected with the azimuth fixing seat 2.3 through a screw;
The inner pitching flexible support fixing seat bearing 2.11 is fixed on the inner pitching frame 2.9 through screws, the inner pitching flexible support fixing seat bearing 2.11 is disc-shaped and provided with a gap, the inner pitching flexible support 2.12 is fixed on the inner pitching flexible support fixing seat bearing 2.11 through screw pretension, the load side bearing fixing seat 2.13 is fixed on the inner pitching flexible support 2.12 through pretension, and the inner pitching flexible support fixing seat bearing 2.11 is fixed with the load support 2.14 through screws.
Further, an outer pitching angle sensor 1.9 is arranged between the outer pitching shaft 1.8 and the outer pitching frame 1.5, a shock absorber fixing seat is connected with the outer pitching frame 1.5 through a shock absorber 2.2, the shock absorber fixing seat is connected with the inner azimuth frame 1.5 through an inner pitching flexible support 2.12, and an inner azimuth voice coil motor 2.4 is fixed on a shock absorber fixing seat.
Further, the azimuth flexible supporting seat 2.6 is fixed on the inner azimuth fixing seat 2.3 through a screw, and the azimuth flexible supporting seat 2.6 is disc-shaped and provided with a gap;
the flexible support 2.5 is fixed on the azimuth flexible support seat 2.6 by pre-tightening the azimuth flexible support seat 2.6 by a screw;
the inner pitching frame 2.9 is provided with an inner pitching angle sensor 2.15;
the load carrier 2.14 is provided with an internal azimuth angle sensor 2.7.
Further, driving arms are designed on the inner pitching frame 2.9 and the load support 2.14, the driving arms are connected with the inner pitching voice coil motor 2.10, a stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 through screws, and the inner pitching voice coil motor 2.10 drives a shaft system to rotate through the driving arms.
A two-shaft four-frame rotating mechanism based on flexible support and voice coil motor, and further comprises a harmonic wheel speed reducer 1.10;
The harmonic wheel speed reducer 1.10 is connected with the inner frame 2.1;
compared with the prior art, the external pitching shaft system is driven by using the external pitching driving motor 1.7 and the harmonic wheel speed reducer 1.10, and has the beneficial effects that:
the flexible support and voice coil motor drive scheme employed by the inner frame of the present invention is sufficiently stiff in the non-operational direction to maintain the quick response performance of the system. Meanwhile, the shafting assembled by the flexible support has the advantages of simplicity in processing, no friction, no clearance, no return and the like. The voice coil motor has the advantages of no hysteresis, small size, large moment and the like. The structure comprising the bearing inner fixing seat and the motor outer fixing seat has the advantages of compact structure and small volume. According to the invention, the flexible support and the voice coil motor realize the motion of two shafts, the rotation angle is accurate, and the working bandwidth is high.
The invention adopts the design scheme that the inner frame and the outer frame are fixedly connected through the shock absorber, and provides a good environment for the accurate and stable inner frame and effectively filters high-frequency vibration in the actual use process.
The invention adopts the mode of jointly driving the outer pitching motor and the harmonic wheel reducer, and effectively improves the motor output in the limited volume size through the harmonic wheel reducer, and provides a powerful support for the improvement of the bandwidth in the servo turntable control.
The invention effectively reduces the overall mass and volume of the system by the structural design of the two-axis rotation, has the key characteristics of stable rotation center, high precision, high reliability, no abrasion and the like, thereby reducing the constraint on the load, reducing the assembly time and simplifying the processing process due to the reduction of the number of parts.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a view of a two-axis four-frame rotary mechanism based on flexible support and voice coil motor according to the present invention taken along a plane in which the axes of the rotary shafts are located;
FIG. 2 is a view taken down in the plane of FIG. 1 along the axes of the inner pitch and outer pitch axes;
FIG. 3 is a view taken upwardly in FIG. 1 along the plane of the inner pitch and outer pitch axis cores;
Fig. 4 is an overall appearance diagram of a two-axis four-frame rotating mechanism based on flexible support and voice coil motor assembly according to the present invention.
In the figure, 1.1 parts of an external azimuth base, 1.2 parts of an external azimuth motor, 1.3 parts of a rotating bearing, 1.4 parts of an external azimuth shaft, 1.5 parts of an external pitching frame, 1.6 parts of an azimuth angle sensor, 1.7 parts of an external pitching driving motor, 1.8 parts of an external pitching shaft, 1.9 parts of an external pitching angle sensor, 1.10 parts of a harmonic wheel reducer and 1.11 parts of an external pitching bearing;
2.1, an inner frame, 2.2, a shock absorber, 2.3, an inner azimuth fixing seat, 2.4, an inner azimuth voice coil motor,
2.5, Flexible support, 2.6, azimuth flexible support seat, 2.7, inner azimuth angle sensor, 2.8, pitch frame side bearing holder, 2.9, inner pitch frame, 2.10 inner pitch voice coil motor, 2.11, inner pitch flexible support holder bearing, 2.12 inner pitch flexible support, 2.13, load side bearing holder, 2.14 load bracket, 2.15 inner pitch angle sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
The invention is described in detail below with reference to the attached drawing figures:
The invention relates to a two-axis four-frame servo turntable based on flexible support and voice coil motors, which comprises an outer frame azimuth driving part, an outer frame pitching driving part, an inner frame azimuth driving part and an inner frame pitching driving part. The outer pitching and the outer pitching adopt the design of matching a brushless motor with a rolling bearing, the inner pitching and the inner pitching adopt the design of matching a voice coil motor with a flexible support, and the voice coil motor is a driving component part of rotary motion, so that rotary motion in the direction of a shaft system is realized. The four frames are provided with angle sensors for rotation, and angle information is collected, so that accurate control of rotation motion is realized. The outer frame and the inner frame are connected through the shock absorber, so that an effective shock filtering effect is achieved in an actual use environment. The servo turntable can stabilize large-angle motion brought by the base in working through the rotation function of the outer pitching frame and the outer azimuth frame, compensates the residual value of the outer frame after stabilization through the rotation function of the inner pitching frame and the inner azimuth frame, and filters the influence brought by high-frequency vibration to the system stability through the shock absorber so as to realize the accurate stability of the servo turntable in the working environment of the movable base. The flexible support provides the rotary support capability of the inner frame, has the characteristics of no friction, no backlash and the like, and provides a good working state for the accurate and stable inner frame. The two-axis four-frame servo turntable provided by the invention is suitable for the fields of precision machinery, precision measuring instruments, medical instruments and the like.
A two-axis four-frame rotating mechanism based on flexible support and voice coil motor comprises an outer pitching, an outer azimuth, an inner pitching and an inner azimuth, wherein the outer pitching and the outer azimuth adopt brushless motors and rolling bearings, and the inner azimuth and the inner pitching adopt voice coil motor and flexible support. Meanwhile, an angle sensor is arranged between the outer pitching shaft and the outer pitching frame, so that the outer pitching rotation angle can be accurately judged. The shock absorber fixing seat is connected with the outer pitching frame through a shock absorber. The shock absorber fixing seat is connected with the inner azimuth frame through a flexible support, the voice coil motor is fixed on the shock absorber fixing seat, and the outer pitching is driven by the motor and the harmonic wheel reducer based on a two-shaft four-frame rotating mechanism consisting of the flexible support and the voice coil motor. And an angle sensor is arranged on the internal azimuth frame to detect the angle of the internal azimuth movement, so that accurate control is realized. The inner pitching frame is connected with the position frame through a flexible support, the voice coil motor is fixed on the inner azimuth frame, and the rotor is connected with the inner pitching frame. And an angle sensor is arranged on the inner pitching frame to detect the angle of the inner azimuth movement, so that accurate control is realized.
A two-shaft four-frame rotating mechanism based on a flexible support and a voice coil motor is fixed by the flexible support on an internal rotating shaft system.
A two-shaft four-frame rotating mechanism based on flexible support and a voice coil motor is characterized in that a rotating force arm is designed on an inner pitching and azimuth shaft, the force arm is connected with the voice coil motor, and the voice coil motor drives a shaft system to rotate through the force arm.
A two-shaft four-frame rotating mechanism based on flexible support and voice coil motor is provided with an angle sensor on a shafting, and accurate control of angles can be realized through sensor signals.
Based on a two-shaft four-frame rotating mechanism consisting of a flexible support and a voice coil motor, the outer pitching is driven by a motor and a harmonic wheel speed reducer.
A two-shaft four-frame rotating mechanism based on flexible support and voice coil motor is composed of an inner azimuth shaft system and an outer pitching shaft system fixed on the inner azimuth shaft system by a shock absorber.
Based on flexible support and four frame slewing mechanism of diaxon that voice coil motor constitutes, the base in outside position links to each other with practical application's scene, utilizes outside position axle and outside position base, antifriction bearing and brushless motor to be connected simultaneously to accomplish the drive to outside position.
Meanwhile, an angle sensor is arranged between the external azimuth axis and the external azimuth base, so that the rotation angle of the external azimuth can be accurately judged. The outer pitching frame is connected with the outer azimuth shaft, and the outer pitching shaft is connected with the outer pitching frame, the rolling bearing and the brushless motor so as to finish driving of outer pitching.
As shown in fig. 1, 2, 3 and 4, the two-axis four-frame external rotating mechanism based on the voice coil motor and the flexible support comprises an external azimuth base 1.1, an external azimuth motor 1.2, a rotating bearing 1.3, an external azimuth axis 1.4, an external pitching frame 1.5, an azimuth angle sensor 1.6, an external pitching driving motor 1.7, an external pitching axis 1.8, an external pitching angle sensor 1.9, a harmonic wheel reducer 1.10 and an external pitching bearing 1.11.
The outer azimuth shaft 1.4 is fixed on the outer azimuth base 1.1 through a rotary bearing 1.3 and a gland, and the other end of the outer azimuth shaft 1.4 is fixed with a rotor of the outer azimuth motor 1.2 through screws. The stator of the external azimuth motor is fixed on the external azimuth base 1.1, and an azimuth angle sensor 1.6 is arranged on the extension section of the external azimuth shaft 1.4.
The output end of the outer azimuth shaft 1.4 is fixed on the outer pitching frame 1.5 through screws, one side of the outer pitching frame 1.5 is used for fixing the outer pitching shaft 1.8 on the outer pitching frame 1.5 through an outer pitching bearing 1.12, and an outer pitching angle sensor 1.9 is arranged on the outer pitching shaft 1.8. The other side of the outer pitching frame 1.5 is provided with an outer pitching bearing 1.11 which fixes an outer pitching shaft 1.8 on the outer pitching frame 1.5, and one end of the outer pitching shaft 1.8 is connected with an outer pitching driving motor 1.7 through screws.
The outer pitching shaft 1.8 is connected with the inner frame 2.1 through screws so as to realize the connection of the inner frame and the outer frame.
Symmetrical shock absorbers 2.2 are arranged at the upper end and the lower end of the inner frame 2.1, and external vibration is filtered. Meanwhile, the inner azimuth fixing seat 2.3 is fixed on the shock absorber 2.2 through screws. The azimuth flexible supporting seat 2.6 is fixed on the inner azimuth fixing seat 2.3 through screws, and the azimuth flexible supporting seat 2.6 is disc-shaped and provided with a gap. The flexible support 2.5 is fixed on the azimuth flexible support seat 2.6 by screw pretension. The pitch frame side bearing holder 2.8 is structurally similar to the azimuth flexible support holder 2.6 and is secured by pretensioning against the flexible support 2.5. While the pitch frame side bearing holder 2.8 is fixed to the inner pitch frame 2.9 by screws.
The inner pitching frame 2.9 is provided with a driving force arm, the driving force arm is connected with a rotor of the inner azimuth voice coil motor 2.4 through a screw, and a stator of the voice coil motor is connected with the azimuth fixing seat 2.3 through a screw. Meanwhile, the inner pitching frame 2.9 is provided with an inner pitching angle sensor 2.15, and real-time angle feedback is carried out through the inner pitching angle sensor 2.15 so as to realize accurate angle control.
The inner pitching flexible support fixing seat bearing 2.11 is fixed on the inner pitching frame 2.9 through screws, and the inner pitching flexible support fixing seat bearing 2.11 is disc-shaped and provided with a gap. The inner pitching flexible support 2.12 is fixed on the inner pitching flexible support fixing seat bearing 2.11 through screw pretension. The load side bearing anchor mount 2.13 is structurally similar to the azimuth flexible support mount 2.6 and is secured by pretensioning against the inner pitch flexible support 2.12. Meanwhile, the inner pitching flexible support fixing seat bearing 2.11 is fixed with the load support 2.14 through screws.
The load bracket 2.14 is provided with a driving arm which is connected with a rotor of the voice coil motor through a screw, and a stator of the voice coil motor 2.11 is connected with the inner pitching frame 2.9 through a screw. Meanwhile, the load support 2.14 is provided with an internal azimuth angle sensor 2.7, and real-time angle feedback is carried out through the sensor so as to realize accurate angle control.
The load bracket 2.14 is provided with a driving force arm, the driving force arm is connected with a rotor of the inner pitching voice coil motor 2.10 through a screw, and a stator of the inner pitching voice coil motor 2.10 is connected with the inner pitching frame 2.9 through a screw.
According to the invention, through the installation mode of the voice coil motor and the flexible support, the rotor of the voice coil motor can be controlled to realize azimuth and pitching rotation, and the voice coil motor can be controlled to realize quick response in a small angle range. By controlling the brushless motor, the large-angle rotation in the external azimuth and the external pitching direction can be realized. The invention can meet the rotation of the existing rotating structure in a large-angle direction, and can also improve the rapid and accurate rotation in a small-angle range. The stable precision is improved on the premise of not changing the original angle range.
Brushless motor is a kind of motor, and the external azimuth motor 1.2 and the external pitch drive motor 1.7 are all of the kind of brushless motor
The rolling bearing is a kind of bearing, and the rolling bearing 3 and the outer pitch bearing 1.11 are all of this kind
The voice coil motor is another type of motor and the internal azimuth voice coil motor 2.4 belongs to the class of voice coil motors.
It will be apparent that the above embodiments are merely examples for clarity of illustration and are not limiting of the embodiments.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention. And all that is not described in detail in this specification is well known to those skilled in the art.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210809951.8A CN114941786B (en) | 2022-07-11 | 2022-07-11 | A two-axis four-frame rotation mechanism based on flexible support and voice coil motor |
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| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
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| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN111487998A (en) * | 2020-04-13 | 2020-08-04 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Automatic target capturing method and device for two-axis four-frame photoelectric tracking equipment |
| CN218543828U (en) * | 2022-07-11 | 2023-02-28 | 长春萨米特光电科技有限公司 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
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| JP2003269692A (en) * | 2002-03-12 | 2003-09-25 | Alps Electric Co Ltd | Actuator and optical device using it |
| KR102397946B1 (en) * | 2015-05-15 | 2022-05-13 | 삼성전자주식회사 | Photographing apparatus, unmanned vehicle having the photographing apparatus and attitude control method for the photographing apparatus |
| CN108332023B (en) * | 2017-01-19 | 2021-04-30 | 北京远度互联科技有限公司 | Two-axis and three-axis pan-tilt and shooting equipment thereof |
| CN110824662A (en) * | 2019-12-20 | 2020-02-21 | 成都英飞睿技术有限公司 | One-dimensional quick reflector, two-dimensional quick reflector and flexible supporting structure thereof |
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| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN111487998A (en) * | 2020-04-13 | 2020-08-04 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Automatic target capturing method and device for two-axis four-frame photoelectric tracking equipment |
| CN218543828U (en) * | 2022-07-11 | 2023-02-28 | 长春萨米特光电科技有限公司 | Two-shaft four-frame rotating mechanism based on flexible support and voice coil motor |
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