CN108459623A - A kind of high-accuracy flexible electrical servo directing mechanism - Google Patents
A kind of high-accuracy flexible electrical servo directing mechanism Download PDFInfo
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- CN108459623A CN108459623A CN201810251915.8A CN201810251915A CN108459623A CN 108459623 A CN108459623 A CN 108459623A CN 201810251915 A CN201810251915 A CN 201810251915A CN 108459623 A CN108459623 A CN 108459623A
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- shaft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Details Of Aerials (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A kind of high-accuracy flexible electrical servo directing mechanism, includes mainly four groups of power feed systems, is directed toward platform, sling, height angle transducer, shaft end ring, first axle axis, connecting rod, second hinge axis, lower bearing sleeve, terminal pad, electric cylinder, bottom plate, taper roll bearing A, taper roll bearing B, upper bearing (metal) sleeve, deep groove ball bearing, azimuth sensor, pulley bracket.The stability of the present invention is high, reduces parts number, increases slewing area；Eliminate accumulated error present in the rigid directing mechanism of series connection.
Description
Technical field
The invention belongs to precision machinery tracking measurement technical fields, are related to high-accuracy flexible electrical servo directing mechanism.
Background technology
Directing mechanism refers to a kind of mechanism that can change and be directed toward platform space posture.Antenna, investigation, early warning, guidance,
Communication, satellites coupling etc. have a large amount of application, especially serve many purposes in aerospace engineering field, such as antenna alignment
Mechanism, solar energy photovoltaic panel are required for realize a wide range of, Quan Fang to day mechanism and the directing mechanism etc. of ground radar
To, high-precision space orientation mechanism.And traditional rigid directing mechanism number of components is more, cost is higher, and motor one
As be mounted on machine and increase the inertia of machine, keep directing mechanism not easy to control.Or motor is mounted on the base by one
Platform is directed toward in the driving of series of drive mechanism, then since there are drive gap, friction, abrasion between transmission parts can substantially reduce
Whole service life.A kind of novel high-accuracy flexible electrical servo directing mechanism is herein proposed to solve the above-mentioned problems,
All motors are placed in bottom by the mechanism, and direction platform is directly driven by flexible rope, reduce motor be directed toward platform it
Between transmission parts, to make number of components substantially reduce, and reduce the conflict between each parts, increase rotation model
It encloses；And under the adjustment of electric cylinder, it is directed toward terrace part and can move up and down, can ensures to be directed toward platform in this way on satellite
It can stretch out and use out of my cabin；Four motor parallel redundant drives are used simultaneously, are eliminated and are tired out present in the rigid directing mechanism of series connection
Product error, has obtained higher pointing accuracy.
Invention content
High, reduction parts number that the object of the present invention is to provide a kind of stability, increases slewing area；Eliminate series connection
The high-accuracy flexible electrical servo directing mechanism of accumulated error present in rigid directing mechanism.
The invention mainly comprises four groups of power feed systems, it is directed toward platform, sling, height angle transducer, shaft end ring, the
One hinge axis, connecting rod, second hinge axis, lower bearing sleeve, terminal pad, electric cylinder, bottom plate, taper roll bearing A, taper roller
Bearing B, upper bearing (metal) sleeve, deep groove ball bearing, azimuth sensor, pulley bracket.
Wherein, set on bottom plate there are four the identical power feed system of structure, power feed system by servo motor, watch
Take motor rack, shaft coupling, retarder, take-up reel, pulley and flexible rope composition.Servo motor is erected on platform, servo electricity
Machine is fixed on servo motor frame.The output end of servo motor is connected with the input shaft of retarder by shaft coupling, retarder
Output shaft is connected by screw, shaft end ring with take-up reel, and take-up reel, shaft end ring are each provided on the output shaft of retarder.
It is set on platform there are four pulley bracket, pulley is equipped on each pulley bracket.Rope there are four being set in the lower surface for being directed toward platform
Button, the position of each sling are corresponding with the pulley bracket position on bottom plate.Each sling is connected with one end of flexible rope, soft
Property rope the other end pass through corresponding pulley, be wrapped on take-up reel, the end of the flexible rope other end is fixed on take-up reel
On.
Upper bearing (metal) sleeve, which is located at, to be directed toward under platform, and taper roll bearing A interference is mounted in upper bearing (metal) sleeve, first hinge
The outrigger shaft of chain rivet is connected by taper roll bearing A, allows the outrigger shaft of first axle axis around being directed toward platform rotation, the
The both sides of one hinge axis are fixedly connected with a connecting rod respectively by nut.It is respectively equipped with depth in the corresponding position of two connecting rods
Ditch ball bearing, is equipped with second hinge axis between two deep groove ball bearings, and one end of second hinge axis extends the outside of connecting rod, and second
One end of hinge axis is connected with high angle sensor.The outrigger shaft of second hinge axis is plugged in taper roll bearing B, circular cone rolling
Sub- bearing B is fixed on the inside of lower bearing sleeve, allows entire hinge component around lower bearing sleeve center axis rotation.In lower axle
In bearing sleeve cylinder, the lower part of taper roll bearing B be equipped with azimuth sensor, to detect the azimuth for being directed toward platform.Lower bearing
The lower part of sleeve is connected by screw with terminal pad, is fixedly connected with the output shaft of electric cylinder in the lower part of terminal pad.Electric cylinder
It is located on bottom plate, is placed between four pulley brackets.
The installation site of pulley is adjustable, can change direction platform at a distance from electric cylinder by adjusting four pulleys
Motion range, the nearlyr direction platform motion range of distance is bigger, and working platform range is directed toward when distance is close enough can even surpass
180 ° are crossed, is occurred when being directed toward platform perpendicular to bottom plate at this time unusual.
In the use of the present invention, control centre sends out control instruction, power feed system acts simultaneously；System sends out instruction
Servo motor setting in motion takes take-up to act by shaft coupling through retarder, take-up reel, rope by pulley, through sling pair
It is directed toward platform and applies the pulling force with certain orientation, while power feed system takes unwrapping wire to act, release rope；Either put
Line or take-state, every rope all generate the pulling force F of certain numerical value, and mechanism is made to be in stable state, and system is inputted in power
Under the action of system, the bearing sleeve being connect with direction platform, through taper roll bearing A, taper roll bearing B, deep groove ball bearing
Start to rotate, the outrigger shaft of second hinge axis made to turn to the axis that can make second hinge axis and the position for being directed toward platform parallel,
When moving to the position set by system, height angle transducer and azimuth sensor send out feedback command, power input system
System stop motion simultaneously enters brake lock death situation state, and motion process terminates.
The present invention has the following advantages that compared with prior art：
1, all servo motors, the big quality part such as retarder are placed in bottom, make it have higher stabilization by the present invention
Property, rapidity；
2, the present invention directly drives direction platform by flexible rope, the driving section for reducing motor and being directed toward between platform
Part to make number of components substantially reduce, and reduces the conflict between each parts, increases slewing area；
3, it under the adjustment of electric cylinder of the present invention, is directed toward terrace part and can move up and down, can ensure to be directed toward platform in this way
It can stretch out on satellite and use out of my cabin；
4, the present invention uses four motor parallel redundant drives simultaneously, eliminates present in the rigid directing mechanism of series connection
Accumulated error has obtained higher pointing accuracy.
Description of the drawings
Fig. 1 is apparatus of the present invention complete machine structure schematic diagram；
Fig. 2 is apparatus of the present invention hinge fraction structure sectional view.
In figure：1- is directed toward platform；2- slings；3- ropes；4- height angle transducers；5- servo motors；6- servo motors
Frame；7- shaft couplings；8- retarders；9- take-up reels；10- shaft end rings；11- first axle axis；12- connecting rods；13- second hinges
Axis：14- lower bearing sleeves；15- terminal pads；16- electric cylinders；17- pulleys；18- bottom plates；19-1 taper roll bearings A；19-2 justifies
Taper roller bearing B；20- upper bearing (metal) sleeves：21- deep groove ball bearings；22- azimuth sensors；23- pulley brackets.
Specific implementation mode
In the simplified schematic diagram of the present invention of Fig. 1, Fig. 2, set on bottom plate 18 there are four the identical power feed system of structure,
Power feed system is made of servo motor, servo motor frame, shaft coupling, retarder, take-up reel, pulley and flexible rope.It watches
It takes motor rack 6 to be located on platform, servo motor 5 is fixed on servo motor frame.The output end of servo motor is defeated with retarder 8
Enter axis by shaft coupling 7 to be connected, the output shaft of retarder is connected by screw, shaft end ring 10 with take-up reel 9, take-up reel, axis
Terminal block circle is each provided on the output shaft of retarder.It is set on platform there are four pulley bracket 23, is equipped on each pulley bracket
Pulley 17.It is set there are four sling 2 in the lower surface for being directed toward platform 1, the pulley bracket position on the position and bottom plate of each sling
It is corresponding.Each sling is connected with one end of flexible rope 3, and the other end of flexible rope passes through corresponding pulley, is wrapped in receipts
On drum, the end of the flexible rope other end is fixed on take-up reel.
Upper bearing (metal) sleeve 20, which is located at, to be directed toward under platform, and taper roll bearing A19-1 interference is mounted in upper bearing (metal) sleeve, the
The outrigger shaft of one hinge axis 11 is connected by taper roll bearing A, allows the outrigger shaft of first axle axis around direction platform
Rotation, is fixedly connected with a connecting rod 12 in the both sides of first hinge axis by nut respectively.In the correspondence position of two connecting rods
It sets and is respectively equipped with deep groove ball bearing 21, second hinge axis 13 is equipped between two deep groove ball bearings, one end of second hinge axis is prolonged
The outside of connecting rod is stretched, one end of second hinge axis is connected with high angle sensor 4.The outrigger shaft of second hinge axis is plugged on circular cone
In roller bearing B19-2, taper roll bearing B is fixed on the inside of lower bearing sleeve, allows entire hinge component around lower axle
14 center axis rotation of bearing sleeve cylinder.In lower bearing sleeve, the lower part of taper roll bearing B be equipped with azimuth sensor 22, to
The azimuth of platform is directed toward in detection.The lower part of lower bearing sleeve is connected by screw with terminal pad 15, the lower part of terminal pad with
The output shaft of electric cylinder 16 is fixedly connected.Electric cylinder is located on bottom plate 18, is placed between four pulley brackets.
Claims (3)
1. a kind of high-accuracy flexible electrical servo directing mechanism, mainly includes four groups of power feed systems, is directed toward platform, rope
Button, height angle transducer, shaft end ring, first axle axis, connecting rod, second hinge axis, lower bearing sleeve, terminal pad, electric cylinder,
Bottom plate, taper roll bearing A, taper roll bearing B, upper bearing (metal) sleeve, deep groove ball bearing, azimuth sensor, pulley bracket,
It is characterized in that：It is set on bottom plate there are four the identical power feed system of structure, sets that there are four pulley brackets on platform, often
It is equipped with pulley on a pulley bracket, is set there are four sling in the lower surface for being directed toward platform, on the position and bottom plate of each sling
Pulley bracket position it is corresponding, each sling is connected with one end of flexible rope, and the other end of flexible rope passes through corresponding
Pulley is wrapped on take-up reel, and the end of the flexible rope other end is fixed on take-up reel, and upper bearing (metal) sleeve is located at direction platform
Under, taper roll bearing A interference is mounted in upper bearing (metal) sleeve, and the outrigger shaft of first hinge axis passes through taper roll bearing A
It is connected, allows the outrigger shaft of first axle axis around platform rotation is directed toward, distinguished by nut in the both sides of first hinge axis
It is fixedly connected with a connecting rod, deep groove ball bearing is respectively equipped in the corresponding position of two connecting rods, between two deep groove ball bearings
Equipped with second hinge axis, one end of second hinge axis extends the outside of connecting rod, one end and the high angle sensor of second hinge axis
It is connected, the outrigger shaft of second hinge axis is plugged in taper roll bearing B, and taper roll bearing B is fixed on lower bearing sleeve
Inside, in lower bearing sleeve, the lower part of taper roll bearing B be equipped with azimuth sensor, the lower part of lower bearing sleeve passes through
Screw is connected with terminal pad, is fixedly connected with the output shaft of electric cylinder in the lower part of terminal pad, electric cylinder is located on bottom plate, is placed in
Between four pulley brackets.
2. the high-accuracy flexible electrical servo directing mechanism of one kind according to claim 1, it is characterised in that：Power input system
System is made of servo motor, servo motor frame, shaft coupling, retarder, take-up reel, pulley and flexible rope, and servo motor is set up
On platform, servo motor is fixed on servo motor frame, and the output end of servo motor and the input shaft of retarder pass through shaft coupling
Device is connected, and the output shaft of retarder is connected by screw, shaft end ring with take-up reel, and take-up reel, shaft end ring are each provided at deceleration
On the output shaft of device.
3. the high-accuracy flexible electrical servo directing mechanism of one kind according to claim 1, it is characterised in that：The installation of pulley
Position-adjustable can change the motion range of direction platform by adjusting four pulleys at a distance from electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251915.8A CN108459623B (en) | 2018-03-26 | 2018-03-26 | High-precision flexible electric servo pointing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251915.8A CN108459623B (en) | 2018-03-26 | 2018-03-26 | High-precision flexible electric servo pointing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108459623A true CN108459623A (en) | 2018-08-28 |
| CN108459623B CN108459623B (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810251915.8A Active CN108459623B (en) | 2018-03-26 | 2018-03-26 | High-precision flexible electric servo pointing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023035778A1 (en) * | 2021-09-13 | 2023-03-16 | 极氪汽车(宁波杭州湾新区)有限公司 | Intelligent cosmetic mirror |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN108459623B (en) | 2021-01-08 |
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