Space remote sensing scanning imaging system self-rotating turntable mechanism and construction method thereof

Abstract

The application discloses a space remote sensing scanning imaging system self-rotation eliminating turntable mechanism and a construction method thereof, and belongs to the technical field of space remote sensing. The mechanism comprises a first self-rotation eliminating mechanism and a second self-rotation eliminating mechanism, the first self-rotation eliminating mechanism and the second self-rotation eliminating mechanism are respectively used for driving the scanning movement and the swing of the space remote sensing scanning imaging system; the first self-rotation eliminating mechanism is connected with a satellite platform, and the second self-rotation eliminating mechanism is connected with the space remote sensing scanning imaging system; the first self-rotation eliminating mechanism comprises a first double-output-shaft motor, which is used for driving the coaxial reverse movement of the connected space remote sensing scanning imaging system and a first rotation eliminating device; the second self-rotation eliminating mechanism comprises a second double-output-shaft motor, which is used for driving the coaxial reverse movement of the connected space remote sensing scanning imaging system and a second rotation eliminating device. When the space remote sensing scanning imaging system is in scanning movement and swing, the satellite is provided with equal and opposite angular momentum, so as to offset the disturbance brought to the satellite by the movement of the space remote sensing scanning imaging system, and the satellite keeps a stable attitude.

Description

Technical Field

[0001] This invention relates to the field of space remote sensing technology, and in particular to a self-extinguishing rotary table mechanism for a space remote sensing scanning imaging system and its construction method. Background Technology

[0002] Space remote sensing cameras are large in size and heavy in mass. During scanning and imaging, their motion can be decomposed into scanning motion and oscillation, which will generate angular momentum and disturbance torque along the rotation axis. Derotation suppression is required to ensure the attitude stability of the satellite platform.

[0003] Currently, most despinning devices suffer from installation and measurement errors, resulting in residual torque and angular momentum still interfering with satellite attitude. For example, patent application number 201810073335.4, "A method and system for small inertia self-despinning control of a space remote sensing scanning imaging system," provides a despinning system that requires additional drive mechanisms and time aligners to achieve despinning of the space remote sensing scanning imaging system. Achieving synchronous control is difficult, and the specific configuration of the mechanism is not disclosed. Another example is patent application number 201811264950.X, "A method and corresponding despinning device for despinning control of a satellite's rotating body," which requires an additional balance wheel drive mechanism to achieve satellite despinning. The balance wheel and reaction wheel are controlled together, introducing despinning control into the overall satellite attitude control system, burdening the overall satellite attitude control and failing to achieve self-despinning.

[0004] Therefore, there is an urgent need to study a turntable mechanism for a space remote sensing scanning imaging system that can achieve self-derotation and has a simple control system. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention provides the following technical solution.

[0006] The first aspect of the present invention provides a self-canceling rotary stage mechanism for a space remote sensing scanning imaging system, comprising a first self-canceling mechanism and a second self-canceling mechanism, the first and second self-canceling mechanisms being vertically connected. The first self-canceling mechanism drives the space remote sensing scanning imaging system to perform scanning motion, and the second self-canceling mechanism drives the space remote sensing scanning imaging system to swing. The first self-canceling mechanism is connected to a satellite platform, and the second self-canceling mechanism is connected to the space remote sensing scanning imaging system. The first self-canceling mechanism includes a first dual-output-shaft motor, which drives the space remote sensing scanning imaging system and the first self-canceling device, connected to its two output shafts, to move coaxially in opposite directions. The second self-canceling mechanism includes a second dual-output-shaft motor, which drives the space remote sensing scanning imaging system and the second self-canceling device, connected to its two output shafts, to move coaxially in opposite directions.

[0007] Preferably, the first self-spinning mechanism further includes a first harmonic reducer, the input end of which is connected to one output shaft of the first dual-output-shaft motor, and the output end of which is connected to the second self-spinning mechanism.

[0008] Preferably, the self-extinguishing rotary table mechanism further includes a sweeping support, which includes a bottom surface and a vertical surface connected to each other. The output end of the first harmonic reducer is connected to the bottom surface of the sweeping support, and the second self-extinguishing rotary mechanism is connected to the vertical surface of the sweeping support.

[0009] Preferably, the first de-spinning device is a first balance wheel, which is connected to the other output shaft of the first dual-output-shaft motor.

[0010] Preferably, the self-extinguishing rotary table mechanism further includes a base, the first harmonic reducer and the first dual-output shaft motor are respectively fixed on both sides of the base, and the base is fixed on the satellite platform.

[0011] Preferably, the second self-de-rotation mechanism further includes a second harmonic reducer, the input end of which is connected to one output shaft of the second dual-output-shaft motor, and the output end of which is connected to the space remote sensing scanning imaging system.

[0012] Preferably, the self-extinguishing rotary table mechanism further includes a camera bracket, and the output end of the second harmonic reducer and the space remote sensing scanning imaging system are both fixed on the camera bracket.

[0013] Preferably, the second de-spinning device is a second balance wheel, which is connected to the other output shaft of the second dual-output shaft motor.

[0014] Preferably, the second harmonic reducer and the second dual-output shaft motor are respectively fixed on both sides of the vertical surface of the sweeping bracket.

[0015] A second aspect of the present invention provides a method for constructing a self-canceling rotary stage mechanism for a space remote sensing scanning imaging system as described in the first aspect, comprising:

[0016] Analyze the motion parameters of the space remote sensing scanning imaging system during oscillation and during scanning;

[0017] The rotational speed of the second dual-output shaft motor is calculated based on the motion parameters during oscillation.

[0018] The moment of inertia of the second despinning device is calculated based on the rotational speed of the second dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system.

[0019] The external dimensions of the second despinning device are designed based on its moment of inertia.

[0020] The rotational speed of the first dual-output shaft motor is calculated based on the motion parameters during scanning;

[0021] The moment of inertia of the first despinning device is calculated based on the rotational speed of the first dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system.

[0022] The external dimensions of the first despinning device are designed based on its rotational inertia.

[0023] The beneficial effects of this invention are as follows: The self-canceling rotary stage mechanism and its construction method for the space remote sensing scanning imaging system provided by this invention, by setting a first self-canceling mechanism and a second self-canceling mechanism, respectively drives the space remote sensing scanning imaging system to perform scanning motion and oscillation; simultaneously, a first dual-output-shaft motor is set in the first self-canceling mechanism to drive the space remote sensing scanning imaging system and the first de-canceling device connected to the output shafts on both sides to move coaxially and in opposite directions; a second dual-output-shaft motor is set in the second self-canceling mechanism to drive the space remote sensing scanning imaging system and the second de-canceling device connected to the output shafts on both sides to move coaxially and in opposite directions. That is, through the first and second de-canceling devices, the space remote sensing scanning imaging system provides equal and opposite angular momentum to the satellite during scanning motion and oscillation, so as to counteract the disturbances brought to the satellite by the motion of the space remote sensing scanning imaging system and keep the satellite's attitude stable. Furthermore, the self-canceling rotary stage mechanism provided by this invention avoids the complexity of the mechanism and the difficulty of synchronous drive of the control system caused by using two sets of drive systems, simplifying the mechanism configuration and control system. It uses a harmonic reducer connected to the load end (space remote sensing scanning imaging system), reducing the load end's rotational speed to decrease its angular momentum while increasing the driving torque, while the de-rotation device maintains a higher rotational speed. This allows for the use of a lighter de-rotation device to provide greater angular momentum, reducing the overall mass of the self-canceling rotary stage. This mechanism effectively solves the self-canceling problem in space remote sensing scanning imaging systems. Attached Figure Description

[0024] Figure 1 This is an exploded view of the self-extinguishing rotary table mechanism of the space remote sensing scanning imaging system described in this invention;

[0025] Figure 2 This is an assembly structure diagram of the self-extinguishing rotary table mechanism of the space remote sensing scanning imaging system described in this invention;

[0026] The meanings of the symbols in the diagram are as follows:

[0027] 1. Space remote sensing scanning imaging system; 2. First dual-output shaft motor; 3. Second dual-output shaft motor; 4. First harmonic reducer; 5. Swing bracket; 6. First balance wheel; 7. Base; 8. Second harmonic reducer; 9. Camera bracket; 10. Second balance wheel. Detailed Implementation

[0028] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0029] Example 1

[0030] like Figure 1 , 2 As shown, this embodiment of the invention provides a self-canceling rotary stage mechanism for a space remote sensing scanning imaging system, including a first self-canceling mechanism and a second self-canceling mechanism. The first and second self-canceling mechanisms are vertically connected. The first self-canceling mechanism drives the space remote sensing scanning imaging system 1 to scan, and the second self-canceling mechanism drives the space remote sensing scanning imaging system 1 to swing. The first self-canceling mechanism is connected to a satellite platform, and the second self-canceling mechanism is connected to the space remote sensing scanning imaging system 1. The first self-canceling mechanism includes a first dual-output shaft motor 2, which drives the space remote sensing scanning imaging system 1 and the first self-canceling device connected to the output shafts on both sides to move coaxially in opposite directions. The second self-canceling mechanism includes a second dual-output shaft motor 3, which drives the space remote sensing scanning imaging system 1 and the second self-canceling device connected to the output shafts on both sides to move coaxially in opposite directions.

[0031] In a preferred embodiment of the present invention, the first self-spinning mechanism further includes a first harmonic reducer 4, the input end of the first harmonic reducer 4 being connected to one side of the output shaft of the first dual-output shaft motor 2, and the output end of the first harmonic reducer 4 being connected to the second self-spinning mechanism.

[0032] The self-extinguishing rotary table mechanism also includes a sweeping support 5, which includes a bottom surface and a vertical surface connected to each other. The output end of the first harmonic reducer 4 is connected to the bottom surface of the sweeping support 5, and the second self-extinguishing rotary mechanism is connected to the vertical surface of the sweeping support 5.

[0033] The first anti-spinning device is a first balance wheel 6, which is connected to the other output shaft of the first dual-output-shaft motor 2.

[0034] The self-extinguishing rotary table mechanism also includes a base 7, the first harmonic reducer 4 and the first dual-output shaft motor 2 are respectively fixed on both sides of the base 7, and the base 7 is fixed on the satellite platform.

[0035] The second self-de-rotation mechanism also includes a second harmonic reducer 8. The input end of the second harmonic reducer 8 is connected to one output shaft of the second dual-output shaft motor 3, and the output end of the second harmonic reducer 8 is connected to the space remote sensing scanning imaging system 1.

[0036] The self-extinguishing rotary table mechanism also includes a camera bracket 9, and the output end of the second harmonic reducer 8 and the space remote sensing scanning imaging system 1 are both fixed on the camera bracket 9.

[0037] The second anti-spinning device is a second balance wheel 10, which is connected to the other output shaft of the second dual-output shaft motor 3.

[0038] The second harmonic reducer 8 and the second dual-output shaft motor 3 are respectively fixed on both sides of the vertical surface of the sweeping bracket 5.

[0039] In one specific embodiment, the self-canceling rotary table mechanism of the space remote sensing scanning imaging system comprises a base, a first dual-output shaft motor, a first harmonic reducer, a first balance wheel, a sweeping bracket, a second dual-output shaft motor, a second harmonic reducer, a second balance wheel, a camera bracket, and the space remote sensing scanning imaging system. The base is fixed to the satellite module. The first dual-output shaft motor and the first harmonic reducer are fixed to both sides of the base, with one output shaft of the first dual-output shaft motor connected to the input end of the first harmonic reducer, and the other output shaft connected to the first balance wheel. The bottom surface of the sweeping bracket is fixed to the output end of the first harmonic reducer. The second dual-output shaft motor and the second harmonic reducer are respectively mounted on both sides of the vertical surface of the sweeping bracket, with one output shaft of the second dual-output shaft motor connected to the input end of the second harmonic reducer, and the other output shaft connected to the second balance wheel. The camera bracket is fixed to the output end of the second harmonic reducer, and the space remote sensing scanning imaging system is fixed to the camera bracket.

[0040] The first dual-output shaft motor drives the scanning motion of the space remote sensing scanning imaging system, and the second dual-output shaft motor drives the oscillation of the space remote sensing scanning imaging system. The harmonic reducer can make the input and output rotation directions opposite, so that the direction of motion of the balance wheel is opposite to the direction of motion of the space remote sensing scanning imaging system, thereby providing the satellite platform with equal and opposite angular momentum. Therefore, it can counteract the disturbances brought to the satellite by the motion of the space remote sensing scanning imaging system, so as to keep the satellite's attitude stable.

[0041] In this invention, a dual-output-shaft motor connected to a harmonic reducer is used to achieve coaxial and counter-rotating motion between the space remote sensing scanning imaging system and the balance wheel. This avoids the complexity of the mechanism and the difficulty of synchronous drive in the control system caused by using two sets of drive systems, simplifying the mechanism configuration and the control system. Using a harmonic reducer to connect the space remote sensing scanning imaging system reduces its rotational speed, thereby decreasing its angular momentum and increasing the driving torque. Meanwhile, the balance wheel maintains a higher rotational speed, allowing for the use of a lighter balance wheel to provide greater angular momentum, thus reducing the overall mass of the self-canceling rotary table. This mechanism effectively solves the self-canceling problem of the space remote sensing scanning imaging system.

[0042] Example 2

[0043] This invention provides a method for constructing a self-canceling rotary stage mechanism for a space remote sensing scanning imaging system as described in Embodiment 1, comprising:

[0044] Analyze the motion parameters of the space remote sensing scanning imaging system during oscillation and during scanning;

[0045] The rotational speed of the second dual-output shaft motor is calculated based on the motion parameters during oscillation.

[0046] The moment of inertia of the second despinning device is calculated based on the rotational speed of the second dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system.

[0047] The external dimensions of the second despinning device are designed based on its moment of inertia.

[0048] The rotational speed of the first dual-output shaft motor is calculated based on the motion parameters during scanning;

[0049] The moment of inertia of the first despinning device is calculated based on the rotational speed of the first dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system.

[0050] The external dimensions of the first despinning device are designed based on its rotational inertia.

[0051] In one specific embodiment of the present invention, it can be implemented in the following manner:

[0052] Step 1: Use Creo software to analyze the moment of inertia J2 of the load (space remote sensing scanning imaging system) during its oscillating motion, and calculate its angular velocity ω2 based on the load's oscillation rotational speed n2.

[0053]

[0054] Calculate the angular momentum L2 of the load swing based on the load swing angular velocity ω2 and the moment of inertia J2:

[0055] L2=J2×ω2

[0056] Step 2: Based on the load swing speed n2 and the reduction ratio i2 of the second harmonic reducer, the required speed n of the second dual-output shaft motor can be obtained. p2 :

[0057] n p2 =n22×i2

[0058] The second balance wheel is directly connected to the second dual-output shaft motor, therefore the rotational speed of the second balance wheel is n. p2 Calculate the angular velocity ω of the second balance wheel. p2 :

[0059]

[0060] By making the angular momentum of the load swing equal to the angular momentum of the second balance wheel, the moment of inertia J of the second balance wheel can be obtained. p2 :

[0061]

[0062] Based on the moment of inertia J of the second balance wheel p2 Design its external dimensions;

[0063] Step 3: Analyze the moment of inertia J1 during the load scanning motion using Creo software, and calculate its angular velocity ω1 based on the load scanning rotational speed n1:

[0064]

[0065] Calculate the load scanning angular momentum L1 based on the load scanning angular velocity ω1 and the moment of inertia J1:

[0066] L1=J1×ω1

[0067] Step 4: Based on the load scanning speed n1 and the reduction ratio i1 of the first harmonic reducer, the required speed n of the first dual-output shaft motor can be obtained. p1 :

[0068] n p1 =n1×i1

[0069] The first balance wheel is directly connected to the first dual-output shaft motor, therefore the rotational speed of the first balance wheel is n. p1 Calculate the angular velocity ω of the first balance wheel. p1 :

[0070]

[0071] By making the angular momentum of the load scan equal to the angular momentum of the first balance wheel, the moment of inertia J of the first balance wheel is obtained. p1 :

[0072]

[0073] Based on the moment of inertia J of the first balance wheel p1 Design its size and shape;

[0074] Step 5: The base, the first dual-output shaft motor, the first harmonic reducer, the first balance wheel, the sweeping bracket, the second dual-output shaft motor, the second harmonic reducer, the second balance wheel, the camera bracket, and the space remote sensing scanning imaging system are installed in sequence to form the self-extinguishing rotary table mechanism of the space remote sensing scanning imaging system.

[0075] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A self-canceling rotary stage mechanism for a space remote sensing scanning imaging system, characterized in that, The system includes a first self-rotating mechanism and a second self-rotating mechanism, which are vertically connected. The first self-rotating mechanism drives the space remote sensing scanning imaging system to perform scanning motion, and the second self-rotating mechanism drives the space remote sensing scanning imaging system to swing. The first self-rotating mechanism is connected to a satellite platform, and the second self-rotating mechanism is connected to the space remote sensing scanning imaging system. The first self-rotating mechanism includes a first dual-output-shaft motor, which drives the space remote sensing scanning imaging system and the first self-rotating device, connected to both output shafts, to move coaxially and in opposite directions. The second self-rotating mechanism includes a second dual-output-shaft motor, which drives the space remote sensing scanning imaging system and the second self-rotating device, connected to both output shafts, to move coaxially and in opposite directions. The first self-spinning mechanism further includes a first harmonic reducer, the input end of which is connected to one output shaft of the first dual-output-shaft motor, and the output end of which is connected to the second self-spinning mechanism. The self-cancelling rotary table mechanism also includes a sweeping support, which includes a bottom surface and a vertical surface connected to each other. The output end of the first harmonic reducer is connected to the bottom surface of the sweeping support, and the second self-cancelling mechanism is connected to the vertical surface of the sweeping support. The second self-de-rotation mechanism also includes a second harmonic reducer. The input end of the second harmonic reducer is connected to one output shaft of the second dual-output-shaft motor, and the output end of the second harmonic reducer is connected to the space remote sensing scanning imaging system.

2. The self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in claim 1, characterized in that, The first de-spinning device is a first balance wheel, which is connected to the other output shaft of the first dual-output-shaft motor.

3. The self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in claim 1, characterized in that, The self-extinguishing rotary table mechanism also includes a base, with the first harmonic reducer and the first dual-output shaft motor respectively fixed on both sides of the base, and the base fixed on the satellite platform.

4. The self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in claim 1, characterized in that, The self-extinguishing rotary table mechanism also includes a camera bracket, and the output end of the second harmonic reducer and the space remote sensing scanning imaging system are both fixed on the camera bracket.

5. The self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in claim 1, characterized in that, The second de-spinning device is a second balance wheel, which is connected to the other output shaft of the second dual-output shaft motor.

6. The self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in claim 1, characterized in that, The second harmonic reducer and the second dual-output shaft motor are respectively fixed on both sides of the vertical surface of the sweeping bracket.

7. The method for constructing the self-canceling rotary stage mechanism of the space remote sensing scanning imaging system as described in any one of claims 1-6, characterized in that, include: Analyze the motion parameters of the space remote sensing scanning imaging system during oscillation and during scanning; The rotational speed of the second dual-output shaft motor is calculated based on the motion parameters during oscillation. The moment of inertia of the second despinning device is calculated based on the rotational speed of the second dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system. The external dimensions of the second despinning device are designed based on its moment of inertia. The rotational speed of the first dual-output shaft motor is calculated based on the motion parameters during scanning; The moment of inertia of the first despinning device is calculated based on the rotational speed of the first dual-output shaft motor and the angular momentum of the space remote sensing scanning imaging system. The external dimensions of the first despinning device are designed based on its rotational inertia.

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