CN114354110B - Multidimensional micro-vibration simulator - Google Patents
Multidimensional micro-vibration simulator Download PDFInfo
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- CN114354110B CN114354110B CN202111680494.9A CN202111680494A CN114354110B CN 114354110 B CN114354110 B CN 114354110B CN 202111680494 A CN202111680494 A CN 202111680494A CN 114354110 B CN114354110 B CN 114354110B
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Abstract
The invention provides a multi-dimensional micro-vibration simulator which comprises a lower platform assembly, an upper platform assembly, a coarse adjusting unit and a fine adjusting unit, wherein the lower platform assembly and the upper platform assembly are arranged oppositely, and the coarse adjusting unit and the fine adjusting unit are positioned between the upper platform assembly and the lower platform assembly. The coarse-level adjusting unit comprises a plurality of coarse-level driving assemblies uniformly distributed on the lower platform assembly and a plurality of coarse-level supporting legs connecting the coarse-level driving assemblies and the upper platform assembly; the fine adjustment unit comprises a plurality of fine driving components uniformly distributed on the lower platform component and a plurality of fine supporting legs connected with the fine driving components and the upper platform component. The coarse driving component generates large output force to complete the control of large magnitude and coarse resolution; the fine driving assembly generates small output force to complete the control of smaller resolution. Therefore, the control of six degrees of freedom of the same upper platform is realized by adopting a parallel connection mode of two Steward platforms and a mode of combining coarse-level driving and fine-level driving, and the multi-dimensional realization of the micro-vibration output with large range and high resolution can be realized.
Description
Technical Field
The invention relates to the technical field of spaceflight, in particular to a multi-dimensional micro-vibration simulator.
Background
The spatial micro-vibration has the characteristics of small amplitude, wide frequency band distribution, complex form and the like, and can influence the pointing stability and the surface type precision of the ultra-large spatial optical equipment. The requirements of the ultra-large space optical equipment on micro-vibration are very high, so a large amount of micro-vibration test work must be carried out at the key technical attack and scheme design stage, the mechanism of the influence of the micro-vibration on the imaging quality of the ultra-large space optical equipment is fully mastered, the adverse influence of the micro-vibration on the imaging quality of the ultra-large space optical equipment is overcome by researching a corresponding technical strategy, and the observation precision is improved. The research on the adaptability of the ultra-large space optical equipment to the micro-vibration environment needs vibration source equipment capable of simulating the space micro-vibration environment.
The amount of micro-vibration that large optical equipment needs to experience is typically in the range of 1 μ g to 100mg. At present, the traditional micro-vibration simulator in China is based on a Steward (six-degree-of-freedom parallel mechanism) structure form, the output magnitude is generally 0.1-100 mg, and the requirement of ultra-large space optical equipment on the vibration source magnitude cannot be met. The conventional stiff platform can realize the output of a large number of micro-vibration under the constraint of the output force and the resolution of the support leg, but the resolution is low, when higher resolution is required, the magnitude of the micro-vibration is reduced, and the micro-vibration simulation of the large magnitude and the high resolution is difficult to realize simultaneously. Therefore, research on novel micro-vibration simulation equipment needs to be developed, and the requirement of ultra-large optical equipment on a vibration source in an imaging test under an on-orbit micro-vibration environment is met.
Disclosure of Invention
The invention aims to provide a multi-dimensional micro-vibration simulator, which can realize both large-magnitude micro-vibration output and high-resolution micro-vibration output.
The application provides a multidimension microvibration simulator includes: a lower platform assembly; the upper platform assembly is arranged opposite to the lower platform assembly; the coarse-level adjusting unit is arranged between the lower platform assembly and the upper platform assembly and comprises a plurality of coarse-level driving assemblies uniformly distributed on the lower platform assembly and a plurality of coarse-level supporting legs connecting the coarse-level driving assemblies and the upper platform assembly; the fine adjustment unit is arranged between the lower platform assembly and the upper platform assembly and comprises a plurality of fine driving assemblies uniformly distributed on the lower platform assembly and a plurality of fine supporting legs connecting the fine driving assemblies and the upper platform assembly; the multi-dimensional micro-vibration simulator realizes the control of large-magnitude micro-vibration output and coarse resolution through the coarse driving component, realizes the control of small-magnitude micro-vibration output and fine resolution through the fine driving component, and realizes the micro-vibration disturbance output with large range and high resolution by adopting a coarse-fine combined driving mode.
In some embodiments of the present application, the coarse adjustment unit includes three coarse driving assemblies and six coarse legs, each coarse driving assembly includes two coarse driving members, and two ends of each coarse leg are respectively connected to the upper platform assembly and the corresponding coarse driving member;
the fine level regulating unit includes three fine level drive assembly and six fine level landing legs, every fine level drive assembly corresponds one the coarse level drive assembly sets up, and is located this the coarse level drive assembly orientation one side at platform assembly center down, each fine level drive assembly includes two fine level driving piece, every the both ends of fine level landing leg are connected respectively go up platform assembly and correspondence fine level driving piece.
In some embodiments of the present application, the coarse drive comprises a coarse drive housing, a first voice coil motor, a first output shaft, a coarse spring lamination, a coarse spring inner compression ring, and a coarse spring outer compression ring; the first voice coil motor is arranged in the coarse-level driving shell and is coaxially matched with the lower platform assembly; the first output shaft penetrates through the center of the first voice coil motor and is linked with the first voice coil motor, one end, close to the upper platform assembly, of the first output shaft is connected with the coarse support leg, and the coarse spring piece comprises a first spring piece, a second spring piece and a third spring piece which are all sleeved on the first output shaft;
the first spring piece and the second spring piece are arranged at one end, far away from the lower platform assembly, of the first voice coil motor, and the third spring piece is arranged at one end, close to the lower platform assembly, of the first voice coil motor; the first spring piece and the second spring piece are provided with the inner coarse spring pressing ring and the outer coarse spring pressing ring; the interior clamping ring of coarse spring wraps first output shaft sets up, coarse spring outer-pressure ring is around locating the periphery of the interior clamping ring of coarse spring, and with coarse drive shell connects.
In some embodiments of the present application, the coarse drive assembly further comprises a first acceleration sensor and a grating scale displacement sensor; the first acceleration sensor is arranged at one end, close to the lower platform assembly, of the first output shaft and used for measuring the output acceleration of the corresponding coarse-stage supporting leg; the grating ruler displacement sensor is arranged on the coarse-stage driving shell and used for measuring the axial displacement of the coarse-stage supporting leg corresponding to the driving and calculating the six-dimensional displacement of the upper platform assembly so as to be used for closed-loop control of the multi-dimensional micro-vibration simulator.
In some embodiments of the present application, the fine drive assembly comprises a fine drive housing, a second voice coil motor, a second output shaft, a fine spring plate, a fine spring outer ring, a power output connection, and a fixed end connection; the second voice coil motor is arranged in the fine driving shell and is coaxially matched with the fine driving shell; the second output shaft penetrates through the center of the second voice coil motor and is linked with the second voice coil motor, one end, close to the upper platform assembly, of the second output shaft is connected to one end of the power output connecting piece, and the other end of the power output connecting piece is connected with the corresponding fine landing leg; the fine spring piece comprises a fourth spring piece and a fifth spring piece which are respectively arranged at two ends of the second output shaft;
the fourth spring piece is positioned at one end, close to the upper platform assembly, of the second voice coil motor, and the fifth spring piece is positioned at one end, close to the lower platform assembly, of the second voice coil motor; the fine spring outer ring is arranged above the fine driving shell, and the fourth spring piece is positioned between the fine spring outer ring and the fine driving shell; the fixed end connecting piece is arranged below the fine driving shell, and the fifth spring piece is located between the fine driving shell and the fixed end connecting piece.
In some embodiments of the present application, the fine drive assembly further comprises a second acceleration sensor for measuring the corresponding fine leg and a zero pointer for indicating a zero state of the fourth and fifth spring plates; the second acceleration sensor is arranged on the peripheral side of the second output shaft, the connecting end of the zero pointer is connected to the second output shaft, and the pointer end portion of the zero pointer penetrates out of the fine-stage driving shell.
In some embodiments of the present application, the coarse leg comprises a coarse leg upper connector, a coarse leg lower connector, a coarse leg force sensor connected between the coarse leg upper connector and the coarse leg lower connector; the upper connecting piece of the coarse landing leg is connected with the upper platform assembly through an upper spherical hinge of the coarse landing leg, and the lower connecting piece of the coarse landing leg is connected with the first output shaft through a lower spherical hinge of the coarse landing leg;
the fine landing leg comprises a fine landing leg upper connecting piece, a fine landing leg lower connecting piece and a fine landing leg force sensor connected between the fine landing leg upper connecting piece and the fine landing leg lower connecting piece; the upper connecting piece of the fine landing leg is connected with the upper platform assembly through an upper spherical hinge of the fine landing leg, and the lower connecting piece of the fine landing leg is connected with the second output shaft through a lower spherical hinge of the fine landing leg.
In some embodiments of the present application, the upper platform assembly comprises three coarse upper supports and six fine upper supports; the three coarse-level upper supporting seats correspond to the three groups of coarse-level driving assemblies one by one, and each coarse-level upper supporting seat is connected with two coarse-level supporting legs connected to one group of coarse-level driving assemblies; six support seat and six on the precision drive assembly one-to-one, every support seat and one on the precision the last connection of precision drive assembly the precision landing leg is connected.
In some embodiments of the present application, the device further includes three gravity unloading devices, the three gravity unloading devices are respectively and uniformly distributed on the lower platform assembly around the central axis direction of the lower platform assembly, and each gravity unloading device is located between two sets of the coarse driving assemblies.
In some embodiments of the present application, the gravity unloader includes an L-shaped frame, a gantry, a lock, an adjustment screw, an unloading spring, a bearing, and a lower support;
the adjusting screw is arranged at the top of the portal frame, the lower end of the adjusting screw is positioned in the portal frame, and the unloading spring is hung at the lower end of the adjusting screw; the lower supporting seat is arranged between the support legs of the portal frame and is positioned below the unloading spring, and the bottom of the lower supporting seat is connected with the lower platform assembly; the bottom of the L-shaped frame is supported on the lower supporting seat, and the top of the L-shaped frame is fixed on the peripheral side of the upper platform assembly; the bearing is arranged on the lower supporting seat in a state that a bearing rod of the bearing protrudes out of the lower supporting seat, and the bearing rod is positioned below the unloading spring; the top of the portal frame and the top of the L-shaped frame are connected and locked through the locking piece.
In some embodiments of the present application, the lower platform assembly includes three coarse lower support seats and three fine lower support seats; the three coarse-level lower supporting seats correspond to the three coarse-level driving assemblies one by one, and each coarse-level lower supporting seat is provided with one group of coarse-level driving assemblies; the three fine lower supporting seats correspond to the three fine driving assemblies one by one, and each fine lower supporting seat is provided with a group of fine driving assemblies. The invention provides a multi-dimensional micro-vibration simulator which comprises a lower platform assembly, an upper platform assembly, a coarse adjusting unit and a fine adjusting unit, wherein the lower platform assembly and the upper platform assembly are arranged oppositely, and the coarse adjusting unit and the fine adjusting unit are positioned between the upper platform assembly and the lower platform assembly. The coarse-level adjusting unit comprises a plurality of coarse-level driving assemblies uniformly distributed on the lower platform assembly and a plurality of coarse-level supporting legs connecting the coarse-level driving assemblies and the upper platform assembly; the fine adjustment unit comprises a plurality of fine driving components uniformly distributed on the lower platform component and a plurality of fine supporting legs connected with the fine driving components and the upper platform component. The coarse driving component generates large output force to complete the control of large magnitude and coarse resolution; the fine driving assembly generates small output force to complete the control of smaller resolution. Therefore, the control of six degrees of freedom of the same upper platform is realized by adopting a parallel connection mode of two Steward platforms and a mode of combining coarse-level driving and fine-level driving, and the multi-dimensional realization of the micro-vibration output with large range and high resolution can be realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of another angle of the structure of fig. 1.
FIG. 3 is a schematic structural diagram of the upper platen assembly of the present invention.
Fig. 4 is a cross-sectional view of the coarse drive assembly of the present invention.
Fig. 5 is a schematic structural view of the coarse leg according to the present invention.
FIG. 6 is a cross-sectional view of the fine drive assembly of the present invention.
Fig. 7 is a schematic structural view of the fine leg of the present invention.
Fig. 8 is a schematic structural view of the gravity unloader of the present invention.
The reference numerals are explained below:
1. a lower platform assembly; 11. a lower platform; 12. a coarse-level lower support seat; 13. a fine-grade lower supporting seat;
2. an upper platform assembly; 21. an upper platform; 22. a coarse upper support base; 23. a fine upper support base; 24. lightening holes;
3. a coarse drive member; 31. a coarse drive housing; 32. a first voice coil motor; 321. a first voice coil motor stator; 322. a first voice coil motor mover; 33. a first output shaft; 34. a coarse grade spring leaf; 341. a first spring plate; 342. a second spring plate; 343. a third spring plate; 35. a coarse spring inner compression ring; 36. a coarse spring outer ring; 37. a first acceleration sensor; 38. a grating scale displacement sensor;
4. a fine drive member; 41. a fine drive housing; 42. a second voice coil motor; 421. a second voice coil motor stator; 422. a second voice coil motor mover; 43. a second output shaft; 44. fine grade spring leaf; 441. a fourth spring plate; 442. a fifth spring plate; 45. a fine spring outer ring; 46. a fixed end connector; 47. a power take-off connection;
5. a coarse landing leg; 51. a connecting piece on the coarse landing leg; 52. a coarse landing leg lower connecting piece; 53. a coarse leg force sensor; 54. the coarse-level supporting legs are hinged in a spherical mode; 55. a lower spherical hinge of the coarse-grade supporting leg;
6. fine landing legs; 61. a fine landing leg upper connecting piece; 62. a fine leg lower connecting member; 63. a fine leg force sensor; 64. the fine-grade supporting legs are hinged with balls; 65. a fine-grade supporting leg lower spherical hinge;
7. a gravity unloader; 71. an L-shaped frame; 72. a gantry; 73. a locking member; 74. an adjusting screw; 75. unloading the spring; 76. a bearing rod; 77. and a lower support seat.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
For further explanation of the principles and construction of the present invention, reference will now be made in detail to the preferred embodiments of the present invention, which are illustrated in the accompanying drawings.
The application provides a multidimensional micro-vibration simulator, which is used for simulating a spatial multidimensional micro-vibration environment, meeting the requirement of ultra-large spatial optical equipment on the magnitude of vibration source, and simultaneously realizing micro-vibration simulation with large magnitude and high resolution.
The multi-dimensional micro-vibration simulator comprises a lower platform assembly 1, an upper platform assembly 2, a coarse-level adjusting unit and a fine-level adjusting unit. The coarse-stage adjusting unit is arranged between the lower platform assembly 1 and the upper platform assembly 2 and comprises a plurality of coarse-stage driving assemblies uniformly distributed on the lower platform assembly 1 and a plurality of coarse-stage supporting legs 5 connecting the coarse-stage driving assemblies and the upper platform assembly 2; the fine adjustment unit is arranged between the lower platform assembly 1 and the upper platform assembly 2 and comprises a plurality of fine driving assemblies uniformly distributed on the lower platform assembly 1 and a plurality of fine supporting legs 6 connected with the fine driving assemblies and the upper platform assembly 2.
Referring to fig. 1 and 2, in the present embodiment, the multi-dimensional micro-vibration simulator includes a lower stage assembly 1, an upper stage assembly 2, three coarse driving assemblies, three fine driving assemblies, six coarse legs 5 and six fine legs 6. The three coarse driving components are uniformly distributed on the lower platform component 1 around the central axis direction of the lower platform component 1, each coarse driving component comprises two coarse driving pieces 3, and each coarse driving piece 3 is connected with the upper platform component 2 through one coarse supporting leg 5; every fine level drive assembly corresponds a coarse level drive assembly setting, and is located this coarse level drive assembly towards one side in platform assembly 1 center down, and every fine level drive assembly includes two fine level driving pieces 4, and every fine level driving piece 4 is connected through a fine level landing leg 6 and is gone up platform assembly 2.
The lower platform assembly 1 is used for mounting related components of the multi-dimensional micro-vibration simulator and comprises a circular lower platform 11, and the lower platform 11 is arranged opposite to the upper platform assembly 2.
The lower platform 11 is provided with three coarse-level lower support seats 12 and three fine-level lower support seats 13. Three coarse level lower supporting seats 12 and three fine level lower supporting seats 13 are all around the equipartition of backup pad center pin direction, and one side that each fine level lower supporting seat 13 deviates from backup pad center direction corresponds arranges a coarse level lower supporting seat 12.
Referring to fig. 3, the upper platen assembly 2 includes an upper platen 21, three coarse upper supports 22 and six fine upper supports 23. The three coarse-level upper supporting seats 22 correspond to the three coarse-level lower supporting seats 12 one by one, and every two fine-level upper supporting seats 23 correspond to one fine-level lower supporting seat 13.
The upper platform 21 is a circular platform disposed coaxially with the circular support plate, and has a diameter smaller than the circular support plate of the lower platform assembly 1. The upper platform 21 is used for mounting a test load and simulating a micro-vibration environment of a test load mounting surface. The upper platform 21 is provided with a plurality of lightening holes 24 on one surface facing the lower platform component 1, and the lightening holes 24 are connected into a net structure. By carrying out light weight and structural optimization on the upper platform 21, the requirement of micro-vibration bandwidth output is met.
The three coarse-level upper supporting seats 22 are uniformly distributed in three lightening holes 24 close to the peripheral side of the upper platform 21 along the circumferential direction of the upper platform 21; six fine upper supporting seats 23 are uniformly distributed in six lightening holes 24 around the central axis of the upper platform 21 and are positioned at the inner sides of the three coarse upper supporting seats 22.
The three coarse driving components are positioned between the lower platform component 1 and the upper platform component 2 and are respectively and uniformly distributed on the lower platform component 1 around the central axis direction of the lower platform component 1, and the bottom end of each coarse driving component 3 is correspondingly connected with a coarse lower supporting seat 12. Each coarse drive assembly comprises two coarse drives 3.
Referring to fig. 4, specifically, each of the coarse driving members 3 includes a coarse driving housing 31, a first voice coil motor 32, a first output shaft 33, a coarse spring plate 34, a coarse spring inner compression ring 35, and a coarse spring outer compression ring 36.
The bottom of the coarse-level driving shell 31 is connected with the coarse-level lower supporting seat 12, and a first voice coil motor 32 is coaxially arranged in the coarse-level driving shell 31; the first voice coil motor 32 comprises a first voice coil motor stator 321 and a first voice coil motor rotor 322 which are coaxial, and the first voice coil motor stator 321 is fixedly connected with the coarse-scale driving shell 31; the first output shaft 33 is disposed through central axes of the first voice coil motor stator 321 and the first voice coil motor mover 322 and is interlocked with the first voice coil motor mover 322. The first voice coil motor 32 generates electromagnetic force to drive the first output shaft 33 to perform short-distance linear reciprocating motion along the central axis of the first voice coil motor 32.
The coarse spring plate 34 includes a first spring plate 341, a second spring plate 342, and a third spring plate 343.
One end of the first output shaft 33 penetrating through the first voice coil motor mover 322 is sequentially sleeved with a second spring piece 342 and a first spring piece 341. A coarse spring inner compression ring 35 and a coarse spring outer compression ring 36 are arranged between the first spring piece 341 and the second spring piece 342. The coarse spring inner compression ring 35 is arranged by wrapping the first output shaft 33, and the first spring piece 341 and the second spring piece 342 are respectively fixed at the top and the bottom of the coarse spring inner compression ring 35 through flange discs; the outer coarse spring pressing ring 36 is arranged on the periphery of the inner coarse spring pressing ring 35 and fixed on the inner wall of the outer coarse drive shell 31, the top of the outer coarse spring pressing ring 36 supports the periphery of the first spring piece 341, and the bottom of the outer coarse spring pressing ring 36 is matched with the boss on the inner wall of the outer coarse drive shell 31 to press the periphery of the second spring piece 342. One end of the first output shaft 33 close to the first voice coil motor stator 321 is sleeved with a third spring plate 343, and the first output shaft 33 fixes the third spring plate 343 through a flange disc.
The first output shaft 33 is guided by the three coarse-scale spring pieces 34 to perform linear reciprocating motion along the central axis of the first voice coil motor 32, and the first output shaft 33 drives the first spring piece 341, the second spring piece 342 and the third spring piece 343 to vibrate through short-distance linear reciprocating motion. Because the voice coil motor can obtain tiny linear motion without a rotating mechanism, and has the advantages of small size and high acceleration, the high acceleration is matched with the tiny linear motion to drive the spring plate to generate high-frequency vibration. Through adjusting the change of the intensity of the current in the first voice coil motor 32, the accurate control of the displacement of the first output shaft 33 is realized, and further the vibration frequency of the three coarse-level spring pieces 34 is controlled, and the vibration frequency of the three coarse-level spring pieces 34 is output to the coarse-level supporting legs 5 through the connecting end of the first output shaft 33. Three layers of coarse spring pieces 34 are arranged on each coarse driving piece 3, so that the bending rigidity of the coarse driving pieces 3 can be improved, and the broadband of the micro-vibration platform can be improved. The control of the upper platform assembly 2 for large magnitude and coarse resolution of micro-vibrations is accomplished by six coarse drives 3 together.
Referring to fig. 5, the coarse leg 5 includes a coarse leg upper connecting member 51, a coarse leg lower connecting member 52, and a coarse leg force sensor 53 connected between the coarse leg upper connecting member 51 and the coarse leg lower connecting member 52, and the coarse leg force sensor 53 is configured to measure an output force of the coarse leg 5, so that the output force of the coarse leg 5 meets an expected requirement, and a closed-loop control is implemented. The coarse leg upper connecting member 51 is connected to the coarse upper support 22 of the upper platform assembly 2 by a coarse leg upper spherical hinge 54, and the coarse leg lower connecting member 52 is connected to the first output shaft 33 by a coarse leg lower spherical hinge 55. The arrangement of the upper spherical hinge 54 of the coarse landing leg and the lower spherical hinge 55 of the coarse landing leg can realize the matching of the freedom degree of the Steward platform. The coarse driving part 3 outputs power to the coarse supporting leg 5, and therefore micro-vibration motion control of the upper platform assembly 2 is completed.
Further, the coarse drive 3 further includes a first acceleration sensor 37 and a grating scale displacement sensor 38. A first acceleration sensor 37 is mounted at one end of the first output shaft 33 near the lower platform assembly 1 for measuring the output acceleration of the coarse outrigger 5; the grating scale displacement sensor 38 is disposed on the coarse driving housing 31 for measuring the axial displacement of the coarse supporting leg 5 and calculating the six-dimensional displacement of the upper stage assembly 2. And a first acceleration sensor 37 and a grating ruler displacement sensor 38 are arranged, so that the micro-vibration platform is further subjected to closed-loop control.
Three fine drive assembly, it is located platform assembly 1 and last platform assembly 2 down, and every fine drive assembly corresponds a coarse drive assembly and sets up in this coarse drive assembly's inboard, and a fine under bracing seat 13 is connected to every fine drive assembly's bottom correspondence. Each group of fine driving components comprises two fine driving pieces 4, and each fine driving piece 4 is correspondingly arranged below one fine upper supporting seat 23.
Referring to fig. 6, specifically, each fine driving member 4 includes a fine driving housing 41, a second voice coil motor 42, a second output shaft 43, a fine spring plate 44, a fine spring outer ring 45, and a fixed end connector 46.
The bottom of the fine driving housing 41 is connected with the fine lower supporting base 13, a second voice coil motor 42 is coaxially arranged in the fine driving housing 41, and the second voice coil motor 42 comprises a second voice coil motor stator 421 and a second voice coil motor rotor 422 which are coaxial. The second voice coil motor stator 421 is fixedly connected to the fine-scale driving housing 41; the second output shaft 43 penetrates through the central shafts of the second voice coil motor stator 421 and the second voice coil motor mover 422, and two ends of the second output shaft 43 are connected with two sets of flange discs respectively. The second voice coil motor 42 generates electromagnetic force to drive the second output shaft 43 to perform short-distance linear reciprocating motion along the central axis of the second voice coil motor 42.
The fine spring plate 44 includes a fourth spring plate 441 and a fifth spring plate 442. The inner ring of the fourth spring piece 441 is connected to the second output shaft 43 through a group of flange discs at one end of the second output shaft 43 close to the second voice coil motor mover 422; the fine spring outer ring 45 is fixed right above the fine drive housing 41 through a bolt and is coaxially matched with the fine drive housing 41, and the fourth spring piece 441 is positioned between the fine spring outer ring 45 and the fine drive housing 41 and compresses the periphery of the outer ring of the fourth spring piece 441 tightly.
One end of the second output shaft 43 close to the second voice coil motor stator 421 fixes the inner ring periphery of the fifth spring plate 442 through a flange disc; the fixed end connector 46 is fixed under the fine stage driving housing 41 by bolts and is coaxially matched with the fine stage driving housing 41, and the fifth spring plate 442 is located between the fine stage driving housing 41 and the fixed end connector 46, and the periphery of the outer ring of the fifth spring plate 442 is pressed by the fifth spring plate 442.
The second output shaft 43 is guided by the two fine spring pieces 44 to perform axial linear motion along the central axis of the second voice coil motor 42, the second output shaft 43 drives the fourth spring piece 441 and the fifth spring piece 442 to vibrate through short-distance linear reciprocating motion, and the magnitude of current in the second voice coil motor 42 is adjusted to realize accurate control of the displacement of the second output shaft 43, so as to control the vibration frequency of the two fine spring pieces 44, and the vibration frequency of the two fine spring pieces 44 is output to the fine supporting leg 6 through the power output connecting end 48 connected with the second output shaft 43. Each fine stage driving member 4 generates a small output force by two fine stage spring pieces 44, and thus, the control with a smaller resolution is completed.
The center of the end face of the second output shaft 43 is provided with a bolt hole inwards, the bottom end of the power output connecting piece 47 is fixedly connected with the end face of the second output shaft 43 close to the second voice coil motor rotor 422 through bolt connection, and the top end of the power output connecting end 48 is connected with the fine landing leg 6.
Referring to fig. 7, the fine leg 6 includes an upper fine leg connector 61, a lower fine leg connector 62, and a fine leg force sensor 63 connected between the upper fine leg connector 61 and the lower fine leg connector 62. The fine landing leg force sensor 63 measures the output force of the fine landing leg 6, so that the output force of the fine landing leg 6 meets the expected requirement, and closed-loop control is realized. The upper connecting piece 61 of the fine landing leg is connected with the upper fine supporting seat 23 of the upper platform assembly 2 through an upper fine landing leg spherical hinge 64, and the lower connecting piece 62 of the fine landing leg is connected with the power output connecting end 48 through a lower fine landing leg spherical hinge 65. The arrangement of the upper spherical hinge 64 and the lower spherical hinge 65 of the fine landing leg can realize the matching of the freedom degree of the Steward platform. The fine driving part 4 outputs power to the fine supporting leg 6, and then the micro-vibration motion control of the upper platform assembly 2 is completed.
Further, the fine drive 4 further comprises a second acceleration sensor (not shown) and a zero pointer (not shown). The second acceleration sensor and the zero pointer are both fixedly connected to the periphery of the flange disc between the fourth spring piece 441 and the second voice coil motor rotor 422, and an opening opposite to the zero pointer is formed in the fine-stage driving shell 41 so as to facilitate viewing of display of the zero pointer. The second acceleration sensor is used for measuring the output acceleration of the supporting leg and is used for closed-loop control of the micro-vibration platform; the zero-position pointer is used for indicating whether the spring piece is in a zero-position state or not during gravity unloading.
The conventional Steward platform adopts 6 driving support legs, and can realize the motion control of the upper platform 2 with six degrees of freedom. In the invention, the six coarse-stage driving pieces 3 generate large output force to complete control of large magnitude and coarse resolution, and the six fine-stage driving pieces 4 generate small output force to complete control of smaller resolution, namely, the six degrees of freedom of the same upper platform 2 are controlled in a mode of connecting two Steward platforms in parallel. Therefore, the combined driving mode of the coarse driving part 3 and the fine driving part 4 in the parallel connection mode of the two Steward platforms can realize the micro-vibration disturbance output with large magnitude and high resolution, can reproduce the micro-vibration with small magnitude, high bandwidth and multiple degrees of freedom in space more truly, has strong bearing capacity, and can meet the requirement of large-scale optical equipment during micro-vibration test.
The three gravity unloaders 7 are respectively distributed on the lower platform assembly 1 around the central axis direction of the lower platform assembly 1, and each gravity unloader 7 is positioned between the two coarse-stage driving assemblies. The three gravity unloaders 7 are uniformly distributed to realize gravity unloading of the micro-vibration simulation platform.
Referring to fig. 8, specifically, the gravity unloader 7 includes an L-shaped frame 71, a gantry 72, a locking member 73, an adjusting screw 74, an unloading spring 75, a bearing, and a lower support base 77.
An adjusting screw 74 is arranged at the top of the portal frame 72 in a penetrating manner, and an unloading spring 75 is hung below the adjusting screw 74; the lower supporting seat 77 is arranged between the supporting legs of the portal frame 72 and is positioned below the unloading spring 75, and the bottom of the lower supporting seat 77 is connected with the lower platform assembly 1; the bottom of the L-shaped frame 71 is connected to the lower supporting seat 77, and the top of the L-shaped frame 71 is fixed on the peripheral side of the upper platform assembly 2; a bearing (not shown in the figure) is arranged in the lower supporting seat 77, and the bearing rod 76 penetrates out of the L-shaped frame 71 and is positioned right below the unloading spring 75; the top of the portal frame 72 and the top of the L-shaped frame 71 are connected and locked through a locking piece 73. The gravity unloader 7 is used for carrying out gravity unloading on the upper platform assembly 2, the coarse-level supporting leg 5, the fine-level supporting leg 6, the movable part of the coarse-level driving part 3, the movable part of the fine-level driving part 4, the test load gravity unloading residual error and the like. The unloading spring 75 is rotated by the adjusting screw 74, so that the unloading spring 75 is deformed to store torsion, and gravity unloading is completed. When the unloading spring 75 needs to generate large deformation, the unloading spring 75 is difficult to adjust through the adjusting screw 74 alone, the lower end of the unloading spring 75 hooks the bearing rod 76, and the bearing can assist the adjusting screw 74 to adjust the deformation of the unloading spring 75.
The invention provides a multi-dimensional micro-vibration simulator which comprises a lower platform assembly 1 and an upper platform assembly 2 which are arranged oppositely, and a coarse-level adjusting unit and a fine-level adjusting unit which are arranged between the upper platform assembly 2 and the lower platform assembly 1. The coarse-level adjusting unit comprises a plurality of coarse-level driving assemblies uniformly distributed on the lower platform assembly 1 and a plurality of coarse-level supporting legs 5 connecting the coarse-level driving assemblies and the upper platform assembly 2; the fine adjustment unit comprises a plurality of fine driving components uniformly distributed on the lower platform component 2 and a plurality of fine supporting legs 6 connecting the fine driving components and the upper platform component 1. The coarse driving component generates large output force to complete the control of large magnitude and coarse resolution; the fine driving assembly generates small output force to complete the control of smaller resolution. Therefore, in the application, six degrees of freedom of the same upper platform 2 are controlled by adopting a parallel connection mode of two Steward platforms and a mode of combining coarse drive and fine drive, and multi-dimensional micro-vibration output with large range and high resolution can be realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, but rather is intended to cover all equivalent structural changes made by the use of the specification and drawings.
Claims (7)
1. A multi-dimensional micro-vibration simulator, comprising:
a lower platform assembly;
the upper platform assembly is arranged opposite to the lower platform assembly;
the coarse-stage adjusting unit is arranged between the lower platform assembly and the upper platform assembly and comprises a plurality of coarse-stage driving assemblies uniformly distributed on the lower platform assembly and a plurality of coarse-stage supporting legs connecting the coarse-stage driving assemblies and the upper platform assembly;
the fine adjustment unit is arranged between the lower platform assembly and the upper platform assembly and comprises a plurality of fine driving assemblies uniformly distributed on the lower platform assembly and a plurality of fine supporting legs connecting the fine driving assemblies and the upper platform assembly;
the multi-dimensional micro-vibration simulator realizes the control of large-magnitude micro-vibration output and coarse resolution through the coarse driving component, realizes the control of small-magnitude micro-vibration output and fine resolution through the fine driving component, and realizes the micro-vibration disturbance output with large range and high resolution by adopting a coarse-fine combined driving mode;
the coarse-level adjusting unit comprises three coarse-level driving assemblies and six coarse-level supporting legs, each coarse-level driving assembly comprises two coarse-level driving pieces, and two ends of each coarse-level supporting leg are respectively connected with the upper platform assembly and the corresponding coarse-level driving piece;
the fine adjustment unit comprises three fine driving assemblies and six fine supporting legs, each fine driving assembly corresponds to one coarse driving assembly and is positioned on one side, facing the center of the lower platform assembly, of the coarse driving assembly, each fine driving assembly comprises two fine driving pieces, and two ends of each fine supporting leg are respectively connected with the upper platform assembly and the corresponding fine driving piece;
the coarse driving part comprises a coarse driving shell, a first voice coil motor, a first output shaft, a coarse spring piece, a coarse spring inner compression ring and a coarse spring outer compression ring; the first voice coil motor is arranged in the coarse-level driving shell and is coaxially matched with the lower platform assembly; the first output shaft penetrates through the center of the first voice coil motor and is linked with the first voice coil motor, one end, close to the upper platform assembly, of the first output shaft is connected with the coarse support leg, and the coarse spring piece comprises a first spring piece, a second spring piece and a third spring piece which are all sleeved on the first output shaft;
the first spring piece and the second spring piece are arranged at one end, far away from the lower platform assembly, of the first voice coil motor, and the third spring piece is arranged at one end, close to the lower platform assembly, of the first voice coil motor; the first spring piece and the second spring piece are provided with the inner coarse spring pressing ring and the outer coarse spring pressing ring; the coarse spring inner compression ring is arranged by wrapping the first output shaft, and the coarse spring outer compression ring is arranged on the periphery of the coarse spring inner compression ring in a wrapping manner and is connected with the coarse driving shell;
the fine driving assembly comprises a fine driving shell, a second voice coil motor, a second output shaft, a fine spring piece, a fine spring outer ring, a power output connecting piece and a fixed end connecting piece; the second voice coil motor is arranged in the fine driving shell and is coaxially matched with the fine driving shell; the second output shaft penetrates through the center of the second voice coil motor and is linked with the second voice coil motor, one end, close to the upper platform assembly, of the second output shaft is connected to one end of the power output connecting piece, and the other end of the power output connecting piece is connected with the corresponding fine landing leg; the fine spring piece comprises a fourth spring piece and a fifth spring piece which are respectively arranged at two ends of the second output shaft;
the fourth spring piece is positioned at one end, close to the upper platform assembly, of the second voice coil motor, and the fifth spring piece is positioned at one end, close to the lower platform assembly, of the second voice coil motor; the fine spring outer ring is arranged above the fine driving shell, and the fourth spring piece is positioned between the fine spring outer ring and the fine driving shell; the fixed end connecting piece is arranged below the fine driving shell, and the fifth spring piece is positioned between the fine driving shell and the fixed end connecting piece;
the coarse landing leg comprises a coarse landing leg upper connecting piece, a coarse landing leg lower connecting piece, and a coarse landing leg force sensor connected between the coarse landing leg upper connecting piece and the coarse landing leg lower connecting piece; the upper connecting piece of the coarse landing leg is connected with the upper platform assembly through an upper spherical hinge of the coarse landing leg, and the lower connecting piece of the coarse landing leg is connected with the first output shaft through a lower spherical hinge of the coarse landing leg;
the fine landing leg comprises a fine landing leg upper connecting piece, a fine landing leg lower connecting piece and a fine landing leg force sensor connected between the fine landing leg upper connecting piece and the fine landing leg lower connecting piece; the upper connecting piece of the fine landing leg is connected with the upper platform assembly through an upper spherical hinge of the fine landing leg, and the lower connecting piece of the fine landing leg is connected with the power output connecting piece through a lower spherical hinge of the fine landing leg.
2. The multi-dimensional micro-vibration simulator of claim 1, wherein the coarse drive assembly further comprises a first acceleration sensor and a grating scale displacement sensor; the first acceleration sensor is arranged at one end, close to the lower platform assembly, of the first output shaft and used for measuring the output acceleration of the corresponding coarse-stage supporting leg; the grating ruler displacement sensor is arranged on the coarse-stage driving shell and used for measuring the axial displacement of the coarse-stage supporting leg corresponding to the driving and calculating the six-dimensional displacement of the upper platform assembly so as to be used for closed-loop control of the multi-dimensional micro-vibration simulator.
3. The multi-dimensional micro-vibration simulator of claim 1, wherein the fine drive assembly further comprises a second acceleration sensor for measuring the corresponding fine leg and a zero pointer for indicating a zero state of the fourth and fifth spring plates; the second acceleration sensor is arranged on the peripheral side of the second output shaft, the connecting end of the zero pointer is connected to the second output shaft, and the pointer end portion of the zero pointer penetrates out of the fine-stage driving shell.
4. The multi-dimensional micro-vibration simulator of claim 1, wherein the upper platform assembly comprises three coarse upper supports and six fine upper supports; the three coarse-level upper supporting seats correspond to the three groups of coarse-level driving assemblies one by one, and each coarse-level upper supporting seat is connected with two coarse-level supporting legs connected to one group of coarse-level driving assemblies; six support seat and six on the precision drive assembly one-to-one, every support seat and one on the precision the last connection of precision drive assembly the precision landing leg is connected.
5. The multi-dimensional micro-vibration simulator of any one of claims 1 to 4, further comprising three gravity unloaders, wherein the three gravity unloaders are respectively and uniformly distributed on the lower platform assembly around the central axis direction of the lower platform assembly, and each gravity unloader is located between two sets of the coarse driving assemblies.
6. The multi-dimensional micro-vibration simulator of claim 5, wherein the gravity unloader comprises an L-shaped frame, a gantry, a locking member, an adjusting screw, an unloading spring, a bearing, and a lower support;
the adjusting screw is arranged at the top of the portal frame, the lower end of the adjusting screw is positioned in the portal frame, and the unloading spring is hung at the lower end of the adjusting screw; the lower supporting seat is arranged between the support legs of the portal frame and is positioned below the unloading spring, and the bottom of the lower supporting seat is connected with the lower platform assembly; the bottom of the L-shaped frame is supported on the lower supporting seat, and the top of the L-shaped frame is fixed on the peripheral side of the upper platform assembly; the bearing is arranged on the lower supporting seat in a state that a bearing rod of the bearing protrudes out of the lower supporting seat, and the bearing rod is positioned below the unloading spring; the top of the portal frame and the top of the L-shaped frame are connected and locked through the locking piece.
7. The multi-dimensional micro-vibration simulator of claim 6, wherein the lower platform assembly comprises three coarse lower supports and three fine lower supports; the three coarse-level lower supporting seats correspond to the three coarse-level driving assemblies one by one, and each coarse-level lower supporting seat is provided with one group of coarse-level driving assemblies; the three fine lower supporting seats correspond to the three fine driving assemblies one by one, and each fine lower supporting seat is provided with a group of fine driving assemblies.
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| CN103267210B (en) * | 2013-05-16 | 2015-06-10 | 燕山大学 | Six-freedom-degree parallel pointing platform |
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