Multi-degree-of-freedom actuator

Abstract

The present invention proposes a multi-degree-of-freedom actuator, which can output a wide-band unidirectional force and torques in two orthogonal directions, and has a compact structure and is easy to install and fix. It includes: a shell, a circuit module, a coil assembly, a mass block 1, a top plate, a reed assembly, a mass block 2, a magnetic steel assembly, and a signal interface module; the top plate is fixed on the top of the shell, and together with the shell, it forms the outer shell of the device; the circuit module is fixed on the bottom of the inner side of the shell; the coil assembly is evenly distributed above the circuit module to receive the electrical signal provided by the circuit module; one end of the reed assembly is fixed on the lower surface of the top plate, and the other end is connected to the upper surface of the mass block 1 and the mass block 2; the magnetic steel assembly is fixedly connected to the mass block 1 and the mass block 2, and is nested in the coil assembly, and the two are coaxial and have a gap between them, and can move relative to each other; the signal interface module is fixed on the circuit module, as a standard interface of the device, receives the applied control signal, and makes the device vibrate.

Description

Technical Field

[0001] The invention relates to a multi-freedom actuator and belongs to the field of micro-vibration simulation and suppression. Background Art

[0002] When a satellite is in orbit, the onboard components will be disturbed by its movement. This disturbance will be transmitted to the satellite's main payload camera along the force transmission path of the entire satellite, causing the camera lens to shake, resulting in a decrease in the camera's imaging quality. Satellite attitude disturbances include pitch, yaw, and roll, and each disturbance will have a certain impact on camera imaging.

[0003] The satellite's on-orbit working state is actually the result of the combined effects of multi-directional disturbances. Disturbance in a single direction will cause image pixel dislocation, resulting in a decrease in imaging quality. When disturbances in six degrees of freedom act simultaneously, the pixel dislocation is more serious. Affected by this mixed effect, the image field of view becomes more blurred.

[0004] Therefore, the fundamental way to truly solve the problem of camera image quality degradation due to vibration is to suppress disturbances in multiple directions at the same time. Summary of the invention

[0005] In view of the problem of multi-degree-of-freedom output capability of an active vibration suppression device, the present invention proposes a multi-degree-of-freedom actuator that can output a wide-band unidirectional force and moments in two orthogonal directions, and has a compact structure and is easy to install and fix.

[0006] The present invention is achieved through the following technical solutions.

[0007] A multi-degree-of-freedom actuator, comprising: a housing, a circuit module, a coil assembly, a mass block 1, a top plate, a reed assembly, a mass block 2, a magnetic steel assembly, and a signal interface module;

[0008] The top plate is fixed on the top of the shell, and together with the shell forms the outer shell of the device; the circuit module is fixed on the inner bottom of the shell; the coil assembly is evenly distributed above the circuit module, and receives the electrical signal provided by the circuit module; one end of the reed assembly is fixed on the lower surface of the top plate, and the other end is connected to the upper surface of the mass block 1 and the mass block 2; the magnetic steel assembly is fixedly connected to the mass block 1 and the mass block 2, and is nested in the coil assembly, and the two are coaxial and have a gap between them, and can move relative to each other; the signal interface module is fixed on the circuit module, and serves as a standard interface of the device, which receives the applied control signal and causes the device to vibrate.

[0009] Beneficial effects of the present invention:

[0010] 1. The actuator of the present invention has two sets of orthogonally arranged low-resonance frequency spring mass systems. Each set of spring mass systems can output unidirectional force and torque. After being combined, they can output wide-band unidirectional force and torque in two orthogonal directions, and the structure is compact.

[0011] 2. The present invention adopts a pair of leaf spring assemblies to form an X-configuration. Combined with the structural characteristics of the leaf spring, the mass block has low stiffness along the vertical axis direction of the X-configuration and the rotation direction around the center normal, and has high stiffness in the other directions. The low stiffness direction is consistent with the translational and rotational vibration directions of the spring mass system, and the leaf spring assembly can produce good displacement constraints in the high stiffness direction;

[0012] 3. The present invention has scalability. By adding two sets of coils and magnetic steels accordingly, the output points of force and torque are increased, and the vibration isolation capability is further enhanced;

[0013] 4. A gap is left between the two sets of spring mass systems of the present invention, so that the translation and rotation of the mass block do not affect each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The present invention is a schematic diagram of the structure of a multi-degree-of-freedom actuator, wherein: a housing (1), a circuit module (2), a coil assembly (3), a mass block 1 (4), a top plate (5), a reed assembly (6), a mass block 2 (7), a magnetic steel assembly (8), and a signal interface module (9);

[0015] Figure 2 It is a schematic diagram of the structure of two sets of orthogonally arranged spring mass systems, including: mass block 1 (4), mass block 2 (7) and spring leaf assemblies 1 to 4 (6_1 to 6_4). DETAILED DESCRIPTION

[0016] The exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the embodiments shown and described in the accompanying drawings are only exemplary and are intended to illustrate the principles and spirit of the present invention, rather than to limit the scope of the present invention.

[0017] like Figure 1 As shown, a multi-degree-of-freedom actuator of the present invention comprises: a housing, a circuit module, a coil assembly, a mass block 1, a top plate, a reed assembly, a mass block 2, a magnetic steel assembly, and a signal interface module;

[0018] The top plate is fixed on the top of the shell, and together with the shell forms the outer shell of the device; the circuit module is fixed on the inner bottom of the shell; the coil assembly is evenly distributed above the circuit module, and receives the electrical signal provided by the circuit module; one end of the reed assembly is fixed on the lower surface of the top plate, and the other end is connected to the upper surface of the mass block 1 and the mass block 2; the magnetic steel assembly is fixedly connected to the mass block 1 and the mass block 2, and is nested in the coil assembly, and the two are coaxial and have a gap between them, and can move relative to each other; the signal interface module is fixed on the circuit module, and serves as a standard interface of the device, which receives the applied control signal and causes the device to vibrate.

[0019] In this embodiment, a gap is left between the mass block 1 and the mass block 2, so that the two can vibrate independently without affecting each other; the mass block 1 and the mass block 2 and the reed assembly constitute two independent spring mass systems.

[0020] In this embodiment, the magnetic steel components are arranged in multiple groups along the long side direction of mass block 1 and mass block 2. When the magnetic steel components on the same mass block vibrate in the same phase, the mass block produces a slight translational motion. When the magnetic steel components on the same mass block vibrate in opposite phases, the mass block rotates slightly. In this way, both sets of spring mass systems can generate translational and rotational vibrations, with the same translational direction and orthogonal rotational directions, thereby outputting multi-degree-of-freedom vibrations.

[0021] In this embodiment, the reed assembly is made of spring steel and adopts the structural appearance of a V-shaped hollow leaf spring. It is located between mass block 1, mass block 2 and the top plate, and is arranged in pairs at both ends of each mass block. This structure has the advantages of compact structure, large stroke and low stiffness. Since the paired reed assemblies form an X configuration, combined with the structural characteristics of the leaf spring, the mass block has low stiffness in the vertical axis direction along the X configuration and the rotation direction around the center normal, and has high stiffness in the other directions. The low stiffness direction is consistent with the translational and rotational vibration directions of the spring mass system. In the high stiffness direction, the reed assembly can produce good displacement constraints, and mass block 1 and mass block 2 are used as tuning components of the spring mass system. The mass block and the low stiffness reed work together to make the device have a lower resonant frequency.

[0022] In this embodiment, the magnetic steel assembly is fixed in the blind hole of the mass block and is a solid structure. The coil is nested between the magnetic steel assembly and the blind hole of the mass block, and there are gaps on the side walls between the three parts. From this structure, it can be seen that the coil assembly corresponding to the mass block can produce an excitation effect in the same or opposite direction, driving the mass block to move horizontally or rotate. The translational stroke of the mass block is determined by the gap between the top of the coil assembly and the bottom of the blind hole of the mass block. The lateral gap between the coil assembly and the blind hole and the magnetic steel assembly and the length of the nested section determine the rotational stroke of the mass block.

[0023] The working principle of the multi-degree-of-freedom actuator of the present invention to achieve high-performance vibration suppression and excitation is as follows: according to the nested relationship between the coil assembly and the two sets of spring mass systems above, the coil assembly on the circuit module is divided into two independent groups, the circuit module has vibration testing and signal distribution functions, the signal interface module provides communication and power supply interfaces, and the circuit module distributes control signals to the two groups of coil assemblies. The low resonant frequency characteristics ensure the device's broadband and rapid response capabilities. When the device performs open-loop vibration output according to external signals, it corresponds to the excitation mode, and when the device performs closed-loop vibration output according to its own or external signals, it corresponds to the vibration suppression mode, thereby achieving high-performance vibration excitation and suppression.

[0024] like Figure 2 As shown, mass block 1 and reed assembly 1 and reed assembly 3 form the first set of spring mass system, mass block 2 and reed assembly 2 and reed assembly 4 form the second set of spring mass system, and there is a gap between the two systems; it can be seen that the translation and rotation of the mass block do not affect each other. Taking the first set of spring mass system as an example, reed assembly 1 and reed assembly 3 are arranged along the central axis of mass block 1, and are symmetrical relative to the central axis of mass block 2. Reed assembly 1 and reed assembly 3 have low stiffness in the normal direction of the plane formed by the central axes of the two mass blocks, and high stiffness in other directions, which can provide boundary constraints for mass block 1.

[0025] In specific implementation, the present invention is also scalable, for example, by adding another set of spring mass systems, that is, Figure 2 It can be expanded into a cross shape by adding two sets of coils and magnets accordingly. In this way, the output points of force and torque of the device are increased and the vibration isolation capability is further enhanced.

[0026] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom actuator, characterized in that: include: Shell, circuit module, coil assembly, mass block 1, top plate, reed assembly, mass block 2, magnetic steel assembly, signal interface module; The top plate is fixed on the top of the shell, and together with the shell, it forms the outer shell of the device; the circuit module is fixed on the bottom of the inner side of the shell; the coil assembly is evenly distributed above the circuit module, and receives the electrical signal provided by the circuit module; one end of the reed assembly is fixed on the lower surface of the top plate, and the other end is connected to the upper surface of the mass block 1 and the mass block 2; the magnetic steel assembly is fixedly connected to the mass block 1 and the mass block 2, and is nested in the coil assembly, and the two are coaxial and have a gap between them, and can move relative to each other; the signal interface module is fixed on the circuit module, and serves as a standard interface of the device, and receives the applied control signal to make the device vibrate; A gap is left between the mass block 1 and the mass block 2, and the two vibrate independently without affecting each other; the magnetic steel components are arranged in multiple groups along the long side direction of the mass block 1 and the mass block 2, and when the magnetic steel components on the same mass block vibrate in the same phase, the mass block produces a slight translation, and when the magnetic steel components on the same mass block vibrate in the opposite phase, the mass block rotates slightly; The reed assembly is made of spring steel and has a V-shaped hollow leaf spring structure. It is located between mass block 1, mass block 2 and the top plate, and is arranged in pairs at both ends of each mass block. The paired reed assemblies form an X configuration. The magnetic steel component is fixed in the blind hole of the mass block and is a solid structure. The coil is nested between the magnetic steel component and the blind hole of the mass block, and there is a gap between the three parts on the side wall; The mass block 1 and the reed assembly 1 and the reed assembly 3 constitute a first spring mass system, and the mass block 2 and the reed assembly 2 and the reed assembly 4 constitute a second spring mass system, with a gap between the two systems; wherein the structure of the first spring mass system is as follows: the reed assembly 1 and the reed assembly 3 are arranged along the central axis of the mass block 1 and are symmetrical relative to the central axis of the mass block 2.

2. A multi-degree-of-freedom actuator as claimed in claim 1, characterized in that: The actuator is expandable.

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