CN205534903U - Frame mechanism in four frame photoelectricity platforms of diaxon - Google Patents
Frame mechanism in four frame photoelectricity platforms of diaxon Download PDFInfo
- Publication number
- CN205534903U CN205534903U CN201620064891.1U CN201620064891U CN205534903U CN 205534903 U CN205534903 U CN 205534903U CN 201620064891 U CN201620064891 U CN 201620064891U CN 205534903 U CN205534903 U CN 205534903U
- Authority
- CN
- China
- Prior art keywords
- linking arm
- platform
- load
- voice coil
- connecting axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model relates to a frame mechanism in four frame photoelectricity platforms of diaxon, this mechanism include motor supporting platform and arrange four rotatory voice coil motor the motor supporting platform around, load linking arm, first, second, third connecting axle, first, second, third linking arm, load fix on motor supporting platform and with load linking arm rigid connection, first connecting axle is installed in the shaft hole of load linking arm, and the third connecting axle is installed in the shaft hole of third linking arm, and first connecting axle and third connecting axle are articulated with the second connecting axle through first linking arm and second linking arm respectively, the axis of first, second, third connecting axle is to submitting in a bit. The utility model discloses greatly reduced the size and the volume of frame, increased platform area bearing force to it is littleer that small -size's interior frame construction receives the restraint in space, has better adaptability, has widened the development and the range of application of photoelectricity platform.
Description
Technical field
This utility model belongs to spatial light and learns a skill field, is specifically related to a kind of novel two axle four framework photoelectricity
Platform inner gimbal mechanism.
Background technology
Photoelectric platform investigates equipment as a kind of novel real time imaging, and it is to integrate light, mechanical, electrical to be
System.And it is a kind of highly developed, conventional steady for using the photoelectric platform of two axles four gimbaled rock-steady structure form
Determining device, outside framework is used for rough tracking, and the control accuracy of platform is mainly realized by inner frame system.For this
Plant version, owing to there being mechanical connection between inner frame and outside framework, in the athletic meeting of outside framework is coupled to
On framework, affect the precision of inner frame.Therefore to realize the control of high precision high stability photoelectric platform, light
Level platform needs two novel axle four frame structures to realize higher precision, more preferable stability.
Chinese patent publication is disclosed " method of servo-controlling of a kind of two axle four framework photoelectric nacelles and system "
(publication number: CN104635746), is specifically related to the platform stable technology of a kind of two axle four framework photoelectric nacelles
And high precision photoelectric tracking control technology.It is stable that first this invention devises a kind of internal and external frame linkage platform
Control technology makes this gondola have good platform stable performance, and this platform stable controls technology can ensure interior side
Position framework is the most orthogonal with interior pitching frame, reduces the geometrical constraint coupling of pod framework, makes photoelectricity
Gondola also has good platform stable performance when crossing top；On this basis, this invention devises again one
Interior housing linkage photo-electric tracking control technology is to improve photoelectric tracking precision, and finally making this photoelectric nacelle realize should
The high accuracy of gondola controls with the photoelectric tracking of high stability.This invention is as can apply to two axle four frameworks
The critical servo of photoelectric nacelle controls technology, has preferable application prospect, can produce bigger economic benefit with
Military benefit.
The photoelectric platform of above-mentioned two traditional axle four frame structures, it is possible to realize the orientation of platform stance, pitching,
Roll motion, thus complete after following function to target.This compound frame structure is by upper installation
The relative attitude motions such as the orientation of photoelectric encoder aware platform internal and external frame and pitching, so many for platform
Closed loop servo-control system provides input reference quantity and benchmark.But owing to there is axle system and framework in said structure
Occupy big quantity space, cause platform carrying load ability to decline, limit development and the application model of photoelectric platform
Enclose.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of size that can be substantially reduced framework and body
Long-pending, increase by two axle four framework photoelectric platform inner frame mechanisms of platform carrying load ability, this mechanism is capable of
Orientation, roll, the motion of pitching three axle.
In order to solve above-mentioned technical problem, two axle four framework photoelectric platform inner frame mechanism bags of the present utility model
Include motor support platform and four rotary voice coil motor being arranged in around motor support platform, load linking arm,
First, second, third connecting shaft, first, second, third linking arm；Load is fixed on motor support and puts down
It is rigidly connected on platform and with load linking arm；First connecting shaft is arranged in the axis hole of load linking arm, and the 3rd
Connecting shaft is arranged in the axis hole of the 3rd linking arm, and the first connecting shaft and the 3rd connecting shaft are respectively by first even
Connect arm and the second linking arm and the second connecting shaft is hinged；The axis of first, second, third connecting shaft is to submitting
In a bit.
Described motor support platform is rectangle, and four rotary voice coil motor are arranged at four drift angles of rectangle,
And the axis of four rotary voice coil motor overlaps with rectangle diagonal.
Described motor support platform can also is that square, and four rotary voice coil motor are arranged in foursquare four
At individual drift angle, and the axis of four rotary voice coil motor overlaps with square diagonal.
Described motor support platform can also is that circle, and four rotary voice coil motor are arranged in motor support platform
Circumference on.
3rd linking arm position is fixed, by controlling rotation direction and the angle of four rotary voice coil motor rotors
The orientation of load, pitching, the small-angle movement of roll three axle can be realized.
Beneficial effect: this utility model uses a kind of space connecting-rod respective outer side edges to use four motors to realize tradition
The function of photoelectric platform inner frame, can by this space connecting-rod structure and four motors realize orientation, roll,
Pitching scope, ± 5 ° of interior motions, greatly reduces size and the volume of framework, due to do not exist axle system with
Framework takies the problem of big quantity space, adds platform carrying load ability, and undersized bearing wall and frame structure
Less by the constraint in space, there is more preferable adaptation ability, widened development and the range of application of photoelectric platform.
Accompanying drawing explanation
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the shafting structure figure in two axle four framework photoelectric platform inner frame mechanisms of the present utility model.
Fig. 2 is motor support platform and the top view of four rotary voice coil motor connections.
Fig. 3 is motor support platform and the upward view of four rotary voice coil motor connections.
Fig. 4 is motor support platform and the axonometric chart of four rotary voice coil motor connections.
Four rotary voice coil motor rotor rotation direction schematic diagrams when Fig. 5 is load azimuth motion.
Four rotary voice coil motor rotor rotation direction schematic diagrams when Fig. 6 is load roll motion.
Four rotary voice coil motor rotor rotation direction schematic diagrams when Fig. 7 is load elevating movement.
In figure 1, load linking arm, the 2, first connecting shaft, the 3, first linking arm, the 4, second connecting shaft,
5, the second linking arm, the 6, the 3rd linking arm, the 7, the 3rd connecting shaft, 81,83,85,87, rotary voice coil
Motor, 82,84,86,88, connecting joint, 9, load, 10, motor support platform.
Detailed description of the invention
As shown in Figure 1, Figure 2, Figure 3 shows, two axle four framework photoelectric platform inner frame mechanism bags of the present utility model
Include motor support platform 10 and four rotary voice coil motor 81 being arranged in around motor support platform 10,83,
85,87, load linking arm 1, first, second, third connecting shaft 2,4,7, first, second, third
Linking arm 3,5,6.
Described motor support platform 10 is square, and four rotary voice coil motor 81,83,85,87 are arranged
At four drift angles of motor support platform 10, and the axis of four rotary voice coil motor with square diagonal
Overlap.The rotor 811,831,851,871 of four rotary voice coil motor 81,83,85,87 leads to respectively
Cross four connecting joints 82,84,86,88 to be connected with motor support platform 10.Load 9 is arranged on motor and props up
On support platform 10, its rear end is connected fixing with the side 11 of load linking arm 1.
First connecting shaft 2 is arranged in the axis hole of load linking arm 1, and the 3rd connecting shaft 7 is arranged on the 3rd even
Connecing in the axis hole of arm 6, the first connecting shaft 2 and the 3rd connecting shaft 7 are respectively by the first linking arm 3 and second
Linking arm 5 is hinged with the second connecting shaft 4；The axis of first, second, third connecting shaft 2,4,7 is upwards
Meet at any and can form a triangular pyramid.3rd linking arm 6 can by with photoelectric platform miscellaneous part rigidity
The mode connected is fixed.
After load linking arm 1 is connected by this utility model with load, by controlling turning of four rotary voice coil motor
Son realizes orientation, pitching, roll motion.
As it is shown in figure 5, control four rotary voice coil motor rotors all by (or counterclockwise) direction clockwise with phase
Same angular turn, can be implemented separately the azimuth motion of load.
As shown in Figure 6, the rotor controlling rotary voice coil motor 83,81 is rotated by (or counterclockwise) clockwise,
The rotor of rotary voice coil motor 85,87 is rotated with equal angular by (or clockwise) direction counterclockwise, permissible
The motion in load roll direction is implemented separately.
As it is shown in fig. 7, the rotor controlling rotary voice coil motor 83,85 is rotated by (or counterclockwise) clockwise,
The rotor of the first, the 4th rotary voice coil motor 81,87 presses counterclockwise (or clockwise) direction with equal angular
Rotate, the motion of load pitch orientation can be implemented separately.
When controlling four rotary voice coil motor and rotating with angle in different directions, orientation and roll side can be realized
Move while motion, orientation and pitch orientation while to, roll is moved while pitch orientation, with
And move while orientation and roll, pitch orientation.
Wherein said motor support platform can also be rectangle, circle or any axisymmetric shape of other shapes,
Four rotary voice coil motor are positioned on the diagonal of axisymmetric shape.
Obviously, above-mentioned enforcement is only for clearly demonstrating example, and not restriction to embodiment.
For those of ordinary skill in the field, can also be made other on the basis of the above description different
The change of form or variation.Here without also cannot all of embodiment be given exhaustive.And thus drawn
What Shen went out obviously changes or among the variation protection domain still in this utility model creation.
Claims (4)
1. an axle four framework photoelectric platform inner frame mechanism, it is characterised in that include motor support platform
(10) and be arranged in motor support platform (10) four rotary voice coil motor around (81,83,85,
87), load linking arm (1), first, second, third connecting shaft (2), (4), (7), first, second,
3rd linking arm (3), (5), (6)；Load (9) is fixed on motor support platform (10) and and load
Linking arm (1) is rigidly connected；First connecting shaft (2) is arranged in the axis hole of load linking arm (1), the
Three connecting shafts (7) are arranged in the axis hole of the 3rd linking arm (6), and the first connecting shaft (2) and the 3rd connects
Axle (7) is hinged with the second connecting shaft (4) by the first linking arm (3) and the second linking arm (5) respectively；
First, second, third connecting shaft (2), (4), the axis of (7) upwards meet at a bit.
Two axle four framework photoelectric platform inner frame mechanisms the most according to claim 1, it is characterised in that institute
Stating motor support platform (10) is rectangle, and four rotary voice coil motor (81,83,85,87) are arranged in
At four drift angles of rectangle, and the axis of four rotary voice coil motor (81,83,85,87) and rectangle pair
Linea angulata overlaps.
Two axle four framework photoelectric platform inner frame mechanisms the most according to claim 1, it is characterised in that institute
Stating motor support platform (10) is square, and four rotary voice coil motor (81,83,85,87) are arranged
At foursquare four drift angles, and the axis of four rotary voice coil motor (81,83,85,87) with just
Square diagonal overlaps.
Two axle four framework photoelectric platform inner frame mechanisms the most according to claim 1, it is characterised in that institute
It is circular for stating motor support platform (10), and four rotary voice coil motor (81,83,85,87) are arranged in
On the circumference of motor support platform (10).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015208017617 | 2015-10-13 | ||
| CN201520801761 | 2015-10-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205534903U true CN205534903U (en) | 2016-08-31 |
Family
ID=56767799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620064891.1U Active CN205534903U (en) | 2015-10-13 | 2016-01-22 | Frame mechanism in four frame photoelectricity platforms of diaxon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205534903U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105508829A (en) * | 2015-10-13 | 2016-04-20 | 长春通视光电技术有限公司 | Two-shaft four-frame photoelectric platform inner frame mechanism |
| CN108803672A (en) * | 2018-04-25 | 2018-11-13 | 武汉高德红外股份有限公司 | Photoelectric follow-up |
-
2016
- 2016-01-22 CN CN201620064891.1U patent/CN205534903U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105508829A (en) * | 2015-10-13 | 2016-04-20 | 长春通视光电技术有限公司 | Two-shaft four-frame photoelectric platform inner frame mechanism |
| CN108803672A (en) * | 2018-04-25 | 2018-11-13 | 武汉高德红外股份有限公司 | Photoelectric follow-up |
| CN108803672B (en) * | 2018-04-25 | 2021-12-14 | 武汉高德红外股份有限公司 | Photoelectric tracking system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203757311U (en) | Holder with self-balancing gyroscope | |
| CN105508829B (en) | A kind of framework photoelectric platform inside casing frame mechanism of two axle four | |
| CN204188800U (en) | With the servo platform of motion compensation | |
| CN104648667B (en) | Aircraft | |
| US20160176547A1 (en) | Anti-twist joint, orienting system and method | |
| CN106575126A (en) | Azimuthal rotation mechanism for solar trackers | |
| MX2009006999A (en) | Bidirectional solar tracker. | |
| CN205534903U (en) | Frame mechanism in four frame photoelectricity platforms of diaxon | |
| CN103274064A (en) | Folding type six-freedom-degree parallel connection posture adjusting platform | |
| CN109442171A (en) | A kind of single eye stereo vision system and its application method | |
| CN203731035U (en) | Biaxial platform | |
| CN109533401A (en) | A kind of spherical hinge and spacecraft directing mechanism | |
| CN105545949A (en) | Photovoltaic spherical bearing rotating device for flat uniaxial tracking support | |
| CN206871377U (en) | A kind of three axle gondolas with Fast-Balance regulatory function | |
| CN102662407B (en) | Tracking control method of three-axis telescope | |
| CN211685663U (en) | Three-axis nacelle | |
| CN104638368B (en) | A kind of antenna exchanges device and exchanges antenna automatically | |
| CN103335618B (en) | Inner load attitude measurement device for onboard photoelectric platform | |
| CN102699897B (en) | Full-view probing robot monobody for complex region at ferromagnetic environment | |
| CN207638661U (en) | A kind of small-sized laser space communication terminal rough tracking device | |
| CN205614653U (en) | No accompanying movement two changes one and moves parallel mechanism | |
| CN103624773B (en) | Two-degree-of-freedom rotating parallel mechanism | |
| RU2314607C1 (en) | Stabilizing device | |
| CN205450793U (en) | Photovoltaic ball bearing rotating device suitable for flat single -axis tracking support | |
| CN110645954B (en) | Method for calculating visual axis angle of four-frame two-axis stable platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Building 2, Changchun Jingyue Technology Achievement Undertaking and Transformation Base, No. 888 Dujuan Road, Jingyue Development Zone, Changchun City, Jilin Province, 130033 Patentee after: Changchun Tongshi Optoelectronic Technology Co.,Ltd. Address before: 130000 No. 600 Weihai Road, Economic Development Zone, Changchun City, Jilin Province Patentee before: CHANGCHUN TONGSHI PHOTOELECTRIC TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |