CN204965198U - Autorotation drive and vibration isolation cloud platform system - Google Patents

Abstract

The utility model provides a self-rotation drive and vibration-isolation pan-tilt system, which includes a space vibration stabilization device; the space vibration stabilization device includes: a load plate, a drive electromagnetic device for repulsion, a transmission entity, a permanent magnet isolation plate, and a transmission shell The transfer entity matched with the transfer housing is arranged on the load plate, and the repulsion driving electromagnetic device arranged on the load disc interacts with the permanent magnet isolation plate arranged on the transfer housing to form a repulsion magnetic circuit; the repulsion drive electromagnetic device When not working, the load plate is detachably supported on the transfer housing through the transfer entity; when the repulsion driving electromagnetic device is working, the repulsion generated by the repulsion drive electromagnetic device relative to the permanent magnet isolation disk drives the transfer entity away from the transfer housing, To drive the load plate to break away from the support of the transfer housing. The utility model can effectively carry out responsive driving control on spatial displacement and spatial vibration, so that the target vibration isolation body remains stable.

Description

Self-rotating drive and vibration isolation pan-tilt system

technical field

The utility model relates to the technical fields of driver technology, intelligent drive control technology, electromagnetic permanent magnet direct drive and precise control of rotational position, in particular to a self-rotation drive and vibration-isolation pan-tilt system.

Background technique

The precision controllable rotation drive device is mainly used in the adjustment of the spatial position of the mechanism, the tracking of the target object, and the active control of the vibration of the flexible structure. By controlling the rotation of the sub-components, the adjustment of the spatial position of the mechanism is realized, and then the tracking of the target object and the active control of the vibration of the flexible structure are realized. The existing rotary driving device is mainly a rotary motor, which has a relatively complex structure and often needs to be combined with other transmission components to control the motion, with low efficiency and slow response speed. In particular, in the case of limited volume, it is often unable to provide a large driving torque, which cannot meet the needs of modern industry for micro precision drive control and positioning.

Do not find explanation or report with similar technology of the present utility model at present, also do not collect similar data at home and abroad yet.

Utility model content

Aiming at the defects in the prior art, the purpose of this utility model is to provide a self-rotating driving and vibration-isolation pan-tilt system.

According to the utility model, a self-rotating drive and vibration-isolation pan-tilt system includes a space vibration stabilization device;

The space vibration stabilization device includes: a load plate, a drive electromagnetic device, a transfer entity, a permanent magnet isolation plate, and a transfer shell; the transfer entity matched with the transfer shell is arranged on the load plate,

The repelling driving electromagnetic device arranged on the load plate interacts with the permanent magnet isolation plate arranged on the transfer housing to form a repelling magnetic circuit;

When the driving electromagnetic device is not working, the load plate is detachably supported on the transfer housing through the transfer entity;

When the repelling driving electromagnetic device is working, the repulsive force generated by the repelling driving electromagnetic device relative to the permanent magnet isolation disk drives the transfer entity away from the transfer housing, so as to drive the load disc away from the support of the transfer housing.

Preferably, elastic sheets are also included;

The elastic sheet is connected between the transfer entity and the transfer casing, and the elastic sheet deforms when the transfer entity moves away from the transfer casing, generating a restoring force that drives the transfer entity closer to the transfer casing.

Preferably, the elastic sheet is in a sheet shape, a corrugated shape or a Z-folded shape.

Preferably, a plurality of elastic sheets are arranged symmetrically with respect to the transfer entity.

Preferably, when the transfer body is detachably supported by the transfer case, there is a gap between the transfer body and the inner wall of the transfer case, and the magnetic medium filler is sealedly filled in the gap.

Preferably, the density of the magnetic medium filler changes correspondingly with the change of the gap volume, thereby changing the magnitude of the shear stress between the transfer entity and the transfer shell, so as to strengthen or weaken the spatial vibration from the transfer entity to the transfer shell body transmission.

Preferably, the magnetic flux density of the magnetic medium filler changes correspondingly with the change of the distance between the transfer entity and the transfer housing, thereby strengthening or weakening the magnetic flux density or local magnetic field strength of the magnetic circuit where the magnetic medium filler is located, Thereby strengthening or weakening the packing compactness of the magnetic medium filler or the transmission degree of shear stress, so as to strengthen or weaken the transmission of spatial vibration from the transmission entity to the transmission shell.

Preferably, it also includes a space displacement stabilizing device connected to the non-supporting end of the transfer housing, wherein the space displacement stabilizing device is used to counteract the local displacement of the target controlled object that can be transferred to the end generated by the movement of the transfer entity. Among them, the motion of the transmitting entity is divided into three types: motion displacement, local displacement, and vibration displacement; motion displacement is a large-scale displacement, and its displacement range exceeds the range that can be adjusted by the spatial displacement stabilization device; local displacement is relative to the motion displacement. In other words, for example, the spatial displacement is a meter-level displacement, and the local position is a centimeter-level displacement.

Preferably, the spatial displacement stabilization device includes a driving device with multiple degrees of freedom in rotational directions;

The driving device with multiple degrees of freedom in rotational directions includes a plurality of precision controllable self-driven rotating shafts connected in sequence;

The precise and controllable self-driven rotating shaft includes: rotating shaft stator, rotating shaft mover, driving body electromagnetic coil, turntable, permanent magnet;

The axial direction of the electromagnetic coil of the driving body is parallel to the normal direction of the turntable;

The electromagnetic coil of the driving body is installed and fixed on one of the rotating shaft stator and the rotating shaft mover, and the turntable is installed and fixed on the other of the rotating shaft stator and the rotating shaft mover;

A part of the turntable consists of permanent magnets;

The electromagnetic coil of the driving body interacts with the permanent magnet to form a magnetic circuit structure.

Preferably, a plurality of driving body electromagnetic coils are uniformly or non-uniformly distributed in the same circumferential direction or multiple circumferential directions; a plurality of permanent magnets on the turntable are uniformly or non-uniformly arranged along the circumferential direction, and the number of driving body electromagnetic coils is the number of permanent magnets N times of , where N is a positive integer.

Preferably, several driving body electromagnetic coils are included; after the several driving body electromagnetic coils are energized, the turntable is relatively rotated to an angle corresponding to the maximum value of the magnetic flux in the magnetic circuit structure.

Preferably, the sleeve is relatively rotatable about a central axis and:

- the rotating shaft stator and the rotating shaft mover are respectively the central shaft and the sleeve; or

- The rotating shaft stator and the rotating shaft mover are respectively a sleeve and a central shaft.

Preferably, any one or more of the following devices are also included:

- a torsion spring, the two ends of the torsion spring are respectively fixed on the rotating shaft stator and the rotating shaft mover, so as to provide damping between the rotating shaft mover and the rotating shaft stator;

- magnetorheological fluid, magnetically permeable powder particles or soft magnetic particles sealed in the cavity between the sleeve and the central shaft to provide controllable and variable damping characteristics between the rotary shaft mover and the rotary shaft stator;

-The bladder-shaped damping body sealed in the cavity between the sleeve and the central shaft, the bladder-shaped damping body is a space bladder-shaped structure, and the inside is filled with magnetic media to provide a gap between the rotating shaft mover and the rotating shaft stator Provides controllable and variable damping characteristics;

Preferably, the following devices are also included:

- The damping control driving body, the damping control driving body is an electromagnetic generating device, installed in the cavity between the sleeve and the central shaft, and is used to apply energy to make the magnetorheological fluid, magnetically conductive powder particles, soft magnetic particles or The magnetic medium in the capsule-shaped damper converges in the energy application direction to generate a shearing force that hinders the relative rotation of the rotary shaft mover and the rotary shaft stator.

Preferably, the following devices are also included:

Angle detection sensor: used to detect the relative rotation angle between the rotating shaft stator and the rotating shaft mover;

Electromagnetic coil controller: used to control the current magnitude and/or current direction of the electromagnetic coil of the driving body according to the rotation angle detected by the angle detection sensor, so as to increase or weaken the magnetic force interaction between the electromagnetic coil of the driving body and the permanent magnet effect.

Preferably, the angle detection sensor is a magnetoelectric Coriolis force detection sensor; less preferably, the angle detection sensor can also be other sensors capable of angle detection or MEMS type angle sensors.

Compared with the prior art, the utility model has the following beneficial effects:

1. In the present utility model, the electromagnetic force is used to repel and separate the transfer entity and the transfer housing, which can effectively isolate the vibration.

2. In the present utility model, when the transmission entity and the transmission shell are repelled or not repelled, the density of the magnetic medium changes accordingly to change the magnitude of the shear stress and play a role in controlling vibration transmission.

3. In the utility model, when the distance between the transfer entity and the transfer housing changes, the magnetic flux of the magnetic medium changes accordingly, which in turn reduces the magnetic flux density in the repulsion magnetic circuit after repulsion, thereby weakening the compactness of the magnetic filler The transmission of degree or stress plays a role of reducing and isolating vibration.

4. In the present invention, the elastic sheet limits the travel of the transfer entity away from the transfer housing, and provides a restoring force when the transfer entity is away from the transfer housing.

5. In the present invention, the elastic sheets are distributed symmetrically with respect to the transmission entity, so that the component force of the vibration along the tangential direction of the elastic sheets can be symmetrically applied to the transmission shell and cancel each other out, thereby enhancing the vibration isolation effect.

6. The precise and controllable self-driven rotating shaft in the utility model utilizes the direct interaction between the electromagnetic coil and the permanent magnet for rotational driving, which has higher efficiency and a more compact structure, and does not require driving parts such as motors;

7. The precision controllable self-driven rotating shaft in the utility model can realize the application of different angle control ranges by changing the number and position of the permanent magnets in the turntable;

8. The driving body of the precision controllable self-driving rotating shaft in the utility model adopts a symmetrical arrangement, which effectively increases the driving force;

9. The electromagnetic coil arrangement form of the precision controllable self-driven rotating shaft in the utility model is more flexible and simple;

10. Each group of electromagnetic coils of the precision controllable self-driven rotating shaft in the utility model can be connected in series or in parallel, and by changing the power supply mode, it can be coupled in the same direction to generate an enhanced excitation magnetic field force, or it can be in different directions Coupling produces a force that weakens the excitation field;

11. The device of the utility model can expand the functions of one-dimensional axial, two-dimensional plane and three-dimensional space according to the needs;

12. The utility model has active damping characteristics, and can produce controllable and variable damping through the control of electromagnetic rheological fluid or magnetically conductive powder particles;

13. The utility model is simple in structure and light in weight, and satisfies the requirements of modern industry for precision control driving devices.

14. The utility model can be used to stabilize the spatial position of precision instruments and reduce and isolate vibration in space, and can be used as a motion support platform system for precision observation components.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is a schematic structural diagram of the driving principle of the present utility model;

Figure 2 and Figure 3 are schematic diagrams of the alignment and misalignment of the electromagnetic coil of the driving body and the permanent magnet, respectively;

Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the array expansion form schematic diagrams of different numbers of permanent magnets and different numbers of driving body electromagnetic coils in the utility model;

Fig. 8 is the structure schematic diagram that adopts torsion spring to produce damping in the utility model;

Fig. 9, Fig. 10, Fig. 11 are three kinds of basic structure forms in the utility model. Among them, Figure 9 shows that the sleeve is fixed and the central shaft rotates, Figure 10 shows that the central shaft is fixed and the sleeve rotates, Figure 11 shows that the inner sleeve is fixed, and the outer sleeve and the central shaft rotate simultaneously;

Fig. 12 and Fig. 13 are the principle demonstration diagrams of active damping produced by the utility model. Wherein, Fig. 12 is the situation of the non-excitation of the damping control driving body, and Fig. 13 is the situation of the excitation work of the damping control driving body;

Fig. 14 is a schematic diagram of the structure when the transfer entity and the transfer housing are not separated in the utility model;

Fig. 15 is a schematic diagram of the structure when the transfer entity and the transfer housing are separated in the utility model;

Figure 16, Figure 17, and Figure 18 are schematic diagrams of the combination of three degrees of freedom realized by three multiple precision controllable self-driven rotating shafts connected in sequence;

Fig. 19, Fig. 20, Fig. 21 are structural representations of the utility model under different angles;

Fig. 22 is a schematic diagram of the three-dimensional structure of the wave-shaped elastic sheet.

In the picture:

1 is the central axis

2 is the driving electromagnetic coil

3 is the turntable

4 is a permanent magnet

5 is torsion spring

6 for sleeve

7 is the coil support frame

8 is the support bearing

9 is the inner sleeve

10 is the magnetic medium

11 is the damping control driving body

12 is the capsule body filled with magnetic medium

13 is the load plate

14 is to repel the driving electromagnetic coil

15 for external vibration source

16 is the transfer entity

17 is the permanent magnet isolation plate

18 is the transmission shell

19 is the magnetic medium filler

20 for elastic sheet

21 three precision controllable self-driven rotating shafts connected in sequence

22 is the target controlled object

detailed description

The utility model is described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present utility model. These all belong to the protection domain of the present utility model.

According to a self-rotation drive and vibration-isolation pan/tilt system provided by the utility model, as shown in Figure 14 and Figure 15, it includes a space vibration stabilization device; the space vibration stabilization device includes: a load plate, a drive electromagnetic device, The transmission entity, the permanent magnet isolation plate, and the transmission housing; the transmission entity matched with the transmission housing is set on the load plate, and the repelling driving electromagnetic device set on the load plate interacts with the permanent magnet isolation plate set on the transfer shell to form a Repel the magnetic circuit.

When the driving electromagnetic device is not working, the load plate is detachably supported on the transfer housing through the transfer entity, as shown in FIG. 14 .

When the repelling driving electromagnetic device is working, the repulsive force generated by the repelling driving electromagnetic device relative to the permanent magnet isolation disk drives the transfer entity away from the transfer housing to drive the load disc away from the support of the transfer housing, as shown in FIG. 15 .

Further, the self-rotation drive and vibration isolation pan/tilt system may also include an elastic sheet. The elastic sheet is connected between the transfer entity and the transfer casing, and the elastic sheet deforms when the transfer entity moves away from the transfer casing, generating a restoring force that drives the transfer entity closer to the transfer casing. Preferably, the normal direction of the elastic sheet is parallel to the repelling direction or has an angle of less than 90° with the repelling direction, that is, the direction in which the transfer entity is away from the transfer housing, so that when the transfer entity is away from the transfer housing, the elastic sheet Applying a force tends to drive the elastic sheet to bend and deform. The plurality of elastic sheets are arranged symmetrically with respect to the transfer entity, so that the component forces in the tangential direction of the force exerted by the transfer entity on the elastic sheet can symmetrically act on the inner wall of the transfer housing, thereby canceling each other.

Further, when the transfer entity is detachably supported by the transfer casing, there is a gap between the transfer entity and the inner wall of the transfer casing, and the magnetic medium filling is filled in the gap in a sealed manner. Through the comparison of Figure 14 and Figure 15, it can be seen that: on the one hand, the density of the magnetic medium filler changes correspondingly with the change of the gap volume, thereby changing the size of the shear stress between the transfer entity and the transfer shell to strengthen Or weaken the transmission of spatial vibration from the transfer entity to the transfer shell; on the other hand, the magnetic flux density of the magnetic medium filler changes correspondingly with the change of the distance between the transfer entity and the transfer shell, thereby strengthening or weakening the The magnetic flux density or local magnetic field strength in the magnetic circuit where the magnetic medium filler is located can change the filling density of the magnetic filler or the degree of stress transmission to strengthen or weaken the transmission of spatial vibration from the transfer entity to the transfer shell.

Furthermore, the self-rotation drive and vibration isolation pan/tilt system may also include a space displacement stabilization device connected to the non-supporting end of the transmission shell, wherein the space displacement stabilization device is used to counteract the movement of the transmission entity. The local displacement that can be transferred to the end target plant body.

The space displacement stabilizing device includes a drive device with multiple degrees of freedom in rotation directions; the drive device with multiple degrees of freedom in rotation directions includes a plurality of precision controllable self-driven rotating shafts connected in sequence. The precise controllable self-driven rotating shaft will be described in detail below.

As shown in Figure 1, the precise and controllable self-driven rotating shaft includes: a rotating shaft stator, a rotating shaft mover, a driving body electromagnetic coil 2, a turntable 3, and a permanent magnet 4;

The precisely controllable self-driving rotating shaft may include several (namely one or more) driving body electromagnetic coils 2 . The several driving body electromagnetic coils 2 and the turntable 3 are arranged relative to the same rotation axis L. The rotation axis of the turntable 3 may or may not overlap the rotation axis L. When the number of the driving body electromagnetic coil 2 is one, the rotation axis of the driving body electromagnetic coil 2 does not overlap with the rotation axis L. When the number of driving body electromagnetic coils 2 is multiple, these driving body electromagnetic coils 2 form an electromagnetic coil assembly; if each driving body electromagnetic coil 2 in the electromagnetic coil assembly is uniformly distributed in the circumferential direction, the electromagnetic coil assembly The rotating shaft preferably overlaps with the rotating axis L, of course, it may not overlap under non-preferable circumstances; The axis of rotation preferably does not overlap the axis L of rotation.

The electromagnetic coil of the driving body adopts a hollow electromagnetic coil, an electromagnet, a coil with a yoke or a combination of an electromagnetic coil and industrial pure iron or soft magnetic materials.

The axial direction of the electromagnetic coil 2 of the driving body is parallel to the normal direction of the turntable 3 . The driving body electromagnetic coil 2 is installed and fixed on one of the rotating shaft stator and the rotating shaft mover, and the turntable 3 is installed and fixed on the other of the rotating shaft stator and the rotating shaft mover, that is to say, it can be The driving body electromagnetic coil 2 is installed and fixed on the rotating shaft stator, and the turntable 3 is installed and fixed on the rotating shaft mover, or the driving body electromagnetic coil 2 is installed and fixed on the rotating shaft mover, and the turntable 3 is installed and fixed on the rotating shaft stator;

As shown in FIG. 2 , part of the turntable 3 is composed of permanent magnets 4 , and the electromagnetic coil 2 of the driving body interacts with the permanent magnets 4 to form a magnetic circuit structure. Wherein, the turntable 3 may be a complete disk structure formed by rigidly connecting an incomplete disk structure lacking a sector area and a sector permanent magnet 4 , and the turntable 3 and the permanent magnet 4 are rigidly connected to the central shaft 1 . The turntable 3 can be made of magnetically permeable material or non-magnetically permeable material. The shape of above-mentioned permanent magnet 4 adopts fan shape is preferred situation, and the shape of permanent magnet 4 can also be the regular shape such as circle, rectangle, triangle, trapezoid, still can irregular shape, all falls within the scope of protection of the present utility model.

Multiple driving body electromagnetic coils 2 are evenly distributed in the same circumferential direction or multiple circumferential directions, as shown in Figure 4-7, the number of driving body electromagnetic coils 2 can be one or more; as shown in Figure 4-6, multiple The driving electromagnetic coils 2 are evenly distributed in the same circumferential direction; as shown in FIG. 7 , the driving electromagnetic coils 2 are evenly distributed in two circumferential directions. A plurality of permanent magnets 4 on the turntable 3 are also uniformly arranged along the circumferential direction, and the number of electromagnetic coils 2 of the driving body is N times the number of permanent magnets 4, where N is a positive integer, as shown in Fig. 4-7. However, in a variation example, the electromagnetic coils 2 of the driving body may be non-uniformly distributed in the circumferential direction, and the permanent magnets 4 of the turntable 3 may also be non-uniformly distributed in the circumferential direction.

The several driving body electromagnetic coils 2 included in the precisely controllable self-driving rotating shaft are used to drive the turntable 3 to rotate relative to an angle corresponding to the maximum value of the magnetic flux in the magnetic circuit structure. Specifically, the change of the relative area between the driving body electromagnetic coil 2 and the permanent magnet 4 caused by the relative rotation of the driving body electromagnetic coil 2 and the turntable 3 causes the change of the magnetic flux in the magnetic circuit structure. When the magnetic flux in the magnetic circuit structure reaches the maximum value, it is considered that a single driver electromagnetic coil 2 or an electromagnetic coil assembly composed of a plurality of driver electromagnetic coils 2 is in an aligned angular position with the permanent magnet on the turntable 3 . When the magnetic flux in the magnetic circuit structure does not reach the maximum value, it is considered that a single driver electromagnetic coil 2 or an electromagnetic coil assembly composed of a plurality of driver electromagnetic coils 2 is in a misaligned angular position relationship with the permanent magnet on the turntable 3 . The function of the driving body electromagnetic coil 2 includes driving the turntable 3 in the misaligned position to the aligned position.

Furthermore, the precision controllable self-driven rotating shaft provided according to the utility model also includes an angle detection sensor and an electromagnetic coil controller. The angle detection sensor is used to detect the relative rotation angle between the rotating shaft stator and the rotating shaft mover; the electromagnetic coil controller is used for the current size and/or current of the driving body electromagnetic coil 2 according to the rotation angle detected by the angle detection sensor The direction is controlled to increase or decrease the magnetic force interaction between the driving body electromagnetic coil 2 and the permanent magnet 4 (or increase/decrease the magnetic force interaction time). Preferably, the angle detection sensor is a magnetoelectric Coriolis force detection sensor. Those skilled in the art can refer to the Chinese patent document with application number "201410095933.3" (publication number 103913158A, titled "Magnetoelectric Coriolis force Detection sensor") and the Chinese patent document with application number "201420117614.3" (publication number 203798360U, name "Magnetic Coriolis force detection sensor") have been realized, and will not be repeated here.

In the first preferred example, as shown in FIG. 9 , the mover of the rotating shaft is the central shaft 1 , and the stator of the rotating shaft is the sleeve 6 . The electromagnetic coil of the driving body is installed and fixed on the inner wall of the sleeve 6 , and the turntable 3 is installed and fixed on the central shaft 1 .

In the second preferred example, as shown in FIG. 10 , the rotating shaft stator is the central shaft 1 , and the rotating shaft mover is the sleeve 6 . The electromagnetic coil of the driving body is installed and fixed on the coil support frame on the central shaft 1 , the turntable 3 is installed and fixed on the inner wall of the sleeve 6 , and is sleeved on the central shaft 1 through the support bearing 8 .

In the third preferred example, as shown in FIG. 11 , the rotating shaft mover is the central shaft 1 and the sleeve 6 , and the rotating shaft stator is the inner sleeve 9 located between the central shaft 1 and the sleeve 6 . The turntable 3 is installed and fixed between the central shaft 1 and the sleeve 6 , and the driving body electromagnetic coil 2 is installed on the inner wall of the inner sleeve 9 .

In the fourth preferred example, as shown in FIG. 12 , the rotating shaft stator is the central shaft 1 , and the rotating shaft mover is the sleeve 6 . The electromagnetic coil of the driving body is installed and fixed on the coil support frame on the central shaft 1 , the turntable 3 is installed and fixed on the inner wall of the sleeve 6 , and is sleeved on the central shaft 1 through the support bearing 8 . A damping control driving body 11 is arranged on the turntable 3 , and a magnetic medium 10 and a bladder damping body 12 are arranged in the space between the central shaft 1 and the sleeve 6 . Wherein, the magnetic medium 10 sealed in the cavity between the sleeve 6 and the central shaft 1 may be magnetorheological liquid, magnetically permeable powder particles or soft magnetic particles, so as to provide a reliable connection between the rotating shaft mover and the rotating shaft stator. Controlled and variable damping characteristics; the bladder damping body 12 sealed in the cavity between the sleeve 6 and the central shaft 1, the bladder damping body is a space bladder structure, and the inside is filled with a magnetic medium 10 to A controllable and variable damping characteristic is provided between the rotating shaft mover and the rotating shaft stator; the damping control driving body 11 is installed in the cavity between the sleeve 6 and the central shaft 1 for Controlling the dispersion of the magnetorheological fluid, magnetically permeable powder particles, soft magnetic particles or the magnetic medium 10 in the capsule damper. Further, as shown in FIG. 12 , the precision controllable self-driven rotating shaft provided according to the present invention also includes a torsion spring 5 , which can be threaded on the central shaft 1 or arranged at other positions. The two ends of the torsion spring 5 are respectively fixed on the rotating shaft mover and the rotating shaft stator to provide damping between the rotating shaft mover and the rotating shaft stator. Stability and controllability, and, after the electromagnetic coil of the driving body loses power, the torsion spring 5 can play a reset role to return the turntable 3 to its original position.

The principle of the precision controllable self-driven rotating shaft in the utility model is as follows.

The precise and controllable self-driven rotating shaft provided by the utility model controls the relative rotation of the turntable and the stator or mover rigidly connected with the turntable through the excitation field generated by the electromagnetic coil of the driving body. Specifically, the electromagnetic coil of the driving body is powered on. Axial magnetic force is generated. When the energized driving body electromagnetic coil is misaligned with the permanent magnet, the attraction or repulsion force of the magnetic force to the permanent magnet will generate a shear force, so that the permanent magnet rotates to the alignment angle position with the largest magnetic flux. Thereby, the rotation of the turntable is driven, and then the rotation angle is produced between the rotating shaft mover and the rotating shaft stator.

Further, the driving body can be controlled by damping to apply energy so that the magnetorheological fluid, magnetically permeable powder particles, soft magnetic particles or the magnetic medium 10 in the capsule-shaped damper converge in the direction of energy application to produce resistance to the rotation axis. The mover is opposed to the rotation axis stator. The shearing force of the rotation controls the damping characteristics between the rotating shaft stator and the rotating shaft mover, so that the shearing force is hindered and weakened or strengthened to drive or hinder the rotation between the rotating shaft stator and the rotating shaft mover. Among them, the damping control driving body is an electromagnetic generating device capable of generating required strength, and the damping control driving body applies electromagnetic energy to magnetic media such as magnetorheological fluid, magnetically conductive powder particles, and soft magnetic particles. When the electromagnetic generating device is not excited, as shown in Figure 12, the magnetic medium is evenly distributed in the gap between the central shaft and the sleeve, and the magnetic medium does not hinder or obviously hinder the rotation between the central shaft and the sleeve; when the electromagnetic When the device is excited, as shown in Figure 13, the magnetic medium is gathered in a narrow space in the gap between the central shaft and the sleeve. At this time, the density of the magnetic medium increases, and the corresponding shear stress also increases. Thereby, the rotation between the central shaft and the sleeve is obviously hindered, and even the central shaft and the sleeve can be locked to stop rotating.

More specifically, when the driving body has fewer electromagnetic coils (or the coil current is smaller), it is suitable for rotation drive control with a small load; when the driving body has more electromagnetic coils (or the coil current is larger), it is suitable for load Larger turn drive controls. When there is one permanent magnet, the rotation control of a small angle range can be realized; when there are multiple permanent magnets, the rotation control of a larger angle range can be realized. By controlling the power on and off of the electromagnetic coils of the combined driving body, precise control of the rotation stability of the rotor can be realized. In addition, through the control of the damping control driving body, the active damping control of the device can be realized, which further increases the stability and effectiveness of the rotation drive control.

Further, the angle detection sensor is used to detect the relative rotation angle between the rotating shaft stator and the rotating shaft mover; the electromagnetic coil controller is used to affect the current magnitude and /or the current direction is controlled to increase or decrease the magnetic force interaction between the driving body electromagnetic coil 2 and the permanent magnet 4 . For example, assuming that the rotating shaft needs to rotate a specified angle, when the angle detection sensor detects that there is still a difference between the current rotating angle of the rotating shaft and the expected rotating angle, that is, the current rotating angle has not yet reached the specified angle, then the electromagnetic coil controller is controlled Power is continued to the driver solenoid until the rotational angle of the rotary shaft reaches the specified angle.

The specific embodiments of the present utility model have been described above. It should be understood that the utility model is not limited to the above-mentioned specific embodiments, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the utility model. In the case of no conflict, the embodiments of the present utility model and the features in the embodiments can be combined arbitrarily with each other.

Claims (14)

1. A self-rotation drive and vibration isolation platform system, characterized in that it includes a space vibration stabilization device; The space vibration stabilization device includes: a load plate, a drive electromagnetic device, a transfer entity, a permanent magnet isolation plate, and a transfer shell; the transfer entity matched with the transfer shell is arranged on the load plate, The repelling driving electromagnetic device arranged on the load plate interacts with the permanent magnet isolation plate arranged on the transfer housing to form a repelling magnetic circuit; When the driving electromagnetic device is not working, the load plate is detachably supported on the transfer housing through the transfer entity; When the repelling driving electromagnetic device is working, the repulsive force generated by the repelling driving electromagnetic device relative to the permanent magnet isolation disk drives the transfer entity away from the transfer housing, so as to drive the load disc away from the support of the transfer housing. 2. The self-rotating drive and vibration isolation pan/tilt system according to claim 1, further comprising an elastic sheet; The elastic sheet is connected between the transfer entity and the transfer casing, and the elastic sheet deforms when the transfer entity moves away from the transfer casing, generating a restoring force that drives the transfer entity closer to the transfer casing. 3. The self-rotation drive and vibration isolation pan/tilt system according to claim 2, characterized in that a plurality of elastic plates are arranged symmetrically with respect to the transfer entity. 4. The self-rotating drive and vibration isolation pan/tilt system according to claim 1, wherein when the transfer entity is detachably supported in the transfer housing, there is a gap between the transfer entity and the inner wall of the transfer housing, and the magnetic A medium filler is hermetically filled in the gap. 5. The self-rotation drive and vibration isolation pan/tilt system according to claim 4, wherein the density of the magnetic medium filler changes correspondingly with the change of the gap volume, thereby changing the transmission entity and the transmission shell The size of the shear stress between them is used to strengthen or weaken the transmission of spatial vibration from the transfer entity to the transfer shell. 6. The self-rotation drive and vibration-isolation pan/tilt system according to claim 4, wherein the magnetic flux density of the magnetic medium filler changes correspondingly with the change of the distance between the transfer entity and the transfer housing, thereby strengthening the Or weaken the magnetic flux density or local magnetic field strength of the magnetic circuit where the magnetic medium filler is located, thereby strengthening or weakening the filling compactness of the magnetic medium filler or the transmission degree of shear stress, so as to strengthen or weaken the spatial vibration from the transmitting entity to the Pass the pass of the shell. 7. The self-rotating drive and vibration isolation pan/tilt system according to claim 1, further comprising a space displacement stabilizing device connected to the non-supporting end of the transmission housing, wherein the space displacement stabilizing device is used to offset the Transfers the local displacement caused by the movement of the entity. 8. The self-rotation drive and vibration isolation pan/tilt system according to claim 7, wherein the spatial displacement stabilizing device comprises a driving device with multiple degrees of freedom in rotation direction; The driving device with multiple degrees of freedom in rotational directions includes a plurality of precision controllable self-driven rotating shafts connected in sequence; The precise and controllable self-driven rotating shaft includes: rotating shaft stator, rotating shaft mover, driving body electromagnetic coil (2), turntable (3), permanent magnet (4); The axial direction of the driving body electromagnetic coil (2) is parallel to the normal direction of the turntable (3); The driving body electromagnetic coil (2) is installed and fixed on one of the rotating shaft stator and the rotating shaft mover, and the turntable (3) is installed and fixed on the other of the rotating shaft stator and the rotating shaft mover; A partial area of the turntable (3) is formed by a permanent magnet (4); The driving body electromagnetic coil (2) interacts with the permanent magnet (4) to form a magnetic circuit structure. 9. self-rotating drive and vibration isolation platform system according to claim 8, is characterized in that, a plurality of driving body electromagnetic coils (2) are evenly or non-uniformly distributed in the same circumferential direction or multiple circumferential directions; the turntable (3 The multiple permanent magnets (4) on the ) are arranged uniformly or non-uniformly along the circumferential direction, and the number of the electromagnetic coils (2) of the driving body is N times the number of the permanent magnets (4), wherein N is a positive integer. 10. self-rotating drive and vibration isolation platform system according to claim 8, is characterized in that, comprises several driving body electromagnetic coils (2); Drives turntable ( 3) Relatively rotate to an angle corresponding to the maximum value of the magnetic flux in the magnetic circuit structure. 11. The self-rotation drive and vibration isolation pan/tilt system according to claim 8, characterized in that the sleeve (6) rotates relatively around the central axis (1), and: - the rotating shaft stator and the rotating shaft mover are respectively the central shaft (1) and the sleeve (6); or -The rotating shaft stator and the rotating shaft mover are respectively a sleeve (6) and a central shaft (1). 12. The self-rotation drive and vibration isolation pan/tilt system according to claim 11, further comprising any one or more of the following devices: - a torsion spring (5), the two ends of the torsion spring (5) are respectively fixed on the rotating shaft stator and the rotating shaft mover, so as to provide damping between the rotating shaft mover and the rotating shaft stator; - magnetorheological fluid, magnetically permeable powder particles or soft magnetic particles sealed in the cavity between the sleeve (6) and the central shaft (1) to provide a controllable and Varying damping characteristics; - the bladder-shaped damping body sealed in the cavity between the sleeve (6) and the central shaft (1), the bladder-shaped damping body is a space bladder structure, and the inside is filled with a magnetic medium (10) to rotate A controllable and variable damping characteristic is provided between the shaft mover and the rotating shaft stator. 13. The self-rotation drive and vibration isolation pan/tilt system according to claim 12, further comprising the following devices: - The damping control driving body (11), the damping control driving body (11) is an electromagnetic generating device, installed in the cavity between the sleeve (6) and the central shaft (1), for applying energy to make the magnetic flow Variable liquid, magnetically permeable powder particles, soft magnetic particles or magnetic medium (10) in the capsule-shaped damper converge in the energy application direction to generate a shearing force that hinders the relative rotation of the rotary shaft mover and the rotary shaft stator. 14. The self-rotation drive and vibration isolation pan/tilt system according to claim 8, further comprising the following devices: Angle detection sensor: used to detect the relative rotation angle between the rotating shaft stator and the rotating shaft mover; Electromagnetic coil controller: used to control the current magnitude and/or current direction of the driving body electromagnetic coil (2) according to the rotation angle detected by the angle detection sensor, so as to increase or weaken the connection between the driving body electromagnetic coil (2) and the permanent Magnetic interaction between magnets (4).