A kind of space optoelectronic scanning mechanism wire winding moment measuring device and measuring method

Abstract

The present application relates to a kind of spatial photoelectric scanning mechanism line winding moment measuring device and measuring method, for solving the insufficient place of the prior art line winding moment measurement method using dynamometer to stretch first cable, second cable to preset test position for measurement, not only low efficiency, test error is also very big.The spatial photoelectric scanning mechanism line winding moment measuring device includes cable rotation component and motor control data processing component, cable rotation component is used to simulate the stress state of first cable, second cable in different positions in the process of spatial photoelectric scanning mechanism operation, and motor control data processing component is used to obtain the line winding moment when motor is operated to different angle positions.

Description

Technical Field

[0001] This invention relates to a space photoelectric scanning mechanism, and more specifically to a device and method for measuring the winding torque of a space photoelectric scanning mechanism. Background Technology

[0002] The space optoelectronic scanning mechanism mainly consists of a load camera and a turntable mechanism. The load camera is used for image acquisition and processing, while the turntable mechanism provides stable dynamic scanning functionality. The turntable mechanism generally consists of a pitch axis system and an azimuth axis system. The pitch axis system is used to achieve scanning rotation at the pitch end, and the azimuth axis system is used to provide scanning rotation at the azimuth end for the load camera.

[0003] The onboard camera transmits image information to the satellite via cables. For large space optoelectronic scanning mechanisms, conductive slip rings are typically installed on the pitch and azimuth axes. Their main function is to transmit electrical signals through the sliding contact of the slip rings. However, due to their large size, conductive slip rings are not suitable for the lightweight space optoelectronic scanning mechanisms on micro and nano satellites.

[0004] The main characteristic of lightweight space photoelectric scanning mechanisms is their small pitch axis system, which makes it impossible to route cables through the axis. To address this issue, the cable carrying the camera needs to be routed using a braided structure, such as... Figure 1 As shown, the first cable 01 and the second cable 02 are fixed via corresponding camera-end binding point 03 and turntable-end binding point 04, respectively. However, this wiring method requires prior estimation of cable length, winding torque, and cable positions at camera-end binding point 03 and turntable-end binding point 04 to determine motor selection and cable procurement. The existing method for measuring winding torque involves fixing the first cable 01 and the second cable 02 to their respective camera-end binding point 03 and turntable-end binding point 04 after the spatial photoelectric scanning mechanism is installed, and then using a force gauge to stretch the first cable 01 and the second cable 02 to a preset test position for measurement. This method is not only inefficient but also has a very large testing error. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing wire winding torque measurement methods, which use a force gauge to stretch the first and second cables to a preset test position for measurement. This method is not only inefficient but also has a large testing error. The invention provides a wire winding torque measurement device and method for a space photoelectric scanning mechanism.

[0006] To address the shortcomings of the existing technology, the present invention provides the following technical solution:

[0007] A space photoelectric scanning mechanism wire winding torque measuring device is characterized by including a cable rotation assembly and a motor control data processing assembly.

[0008] The cable rotation assembly is used to simulate the force state of the first cable and the second cable at different positions during operation in the space photoelectric scanning mechanism. It includes a motor, a motor bracket, a cable turntable end fixing bracket, a coupling, and a cable camera end fixing bracket.

[0009] The cable turntable end fixing bracket is provided with turntable end binding points for the first cable and the second cable, and a first rotating shaft is provided in the first through hole at the upper end of the cable turntable end fixing bracket through a bearing assembly;

[0010] One end of the motor bracket is fixed to the cable turntable end fixing bracket, and a second through hole is provided on the other end;

[0011] The cable camera end fixing bracket includes a second rotating shaft and a camera frame disposed on the side wall of the second rotating shaft. The camera frame is provided with camera end binding points for the first cable and the second cable.

[0012] The motor is mounted on a motor bracket, and its motor shaft passes through the second through hole and is connected to the first rotating shaft in sequence through a coupling and a cable camera end fixing bracket.

[0013] The motor control data processing component is connected to the motor and is used to provide power to the motor and obtain the input current when the motor is running at different angle positions, thereby obtaining the winding torque when the motor is running at different angle positions.

[0014] Furthermore, the camera frame includes a first bracket, a second bracket, a third bracket, and a fourth bracket. The first bracket is perpendicular to the second rotation axis, with one end fixed to the side wall of the second rotation axis and the other end fixed to the middle of the second bracket. The second bracket is perpendicular to the first bracket, and its two ends are respectively connected to one end of the third bracket and the fourth bracket. The third bracket and the fourth bracket are both perpendicular to the first bracket and the second bracket, and both are parallel to the second rotation axis. A connector assembly is slidably connected to the third bracket, and a gasket assembly is slidably connected to the fourth bracket. The gasket assembly and the connector assembly are used to adjust the installation positions of the first cable and the second cable, respectively. Camera end binding points for the first cable and the second cable are provided on the second bracket.

[0015] Furthermore, the third and fourth supports are each provided with a sliding groove along their extension direction. The connector assembly includes a first connector and a second connector respectively disposed above and below the sliding groove, and the first connector and the second connector are connected by at least one bolt. The gasket assembly includes a first gasket and a second gasket respectively disposed above and below the sliding groove, and the first gasket and the second gasket are connected by at least one bolt.

[0016] Furthermore, the motor control data processing component includes a motor control board, host computer software, and a DC power supply; the motor control board is connected to the motor and is used to provide power drive and control commands to the motor, and to collect the angular position information of the motor operation and the input current of the motor; the host computer software is used to perform data processing to obtain the winding torque; the DC power supply is connected to the motor control board and is used to provide power.

[0017] Furthermore, the bearing assembly includes an outer bearing pressure ring fixed to the inner wall of the first through hole of the cable turntable end fixing bracket, an inner bearing pressure ring fixed to the end of the first rotating shaft, and a back-to-back mounted angular contact bearing disposed between the cable turntable end fixing bracket and the first rotating shaft.

[0018] Furthermore, the coupling is provided with a diaphragm to absorb angular deviations between shafts.

[0019] Furthermore, the motor bracket has an L-shaped structure.

[0020] Meanwhile, this invention provides a method for measuring the winding torque of a space photoelectric scanning mechanism, which is characterized by including the following steps:

[0021] Step 1: Install the above-mentioned spatial photoelectric scanning mechanism winding torque measuring device on the optical platform, and keep the motor shaft of the motor perpendicular to the horizontal plane;

[0022] Step 2: Set the test parameters, including the temperature and pressure of the test environment, the motor model, the position of the camera end binding point and the turntable end binding point of the first cable, and the position of the camera end binding point and the turntable end binding point of the second cable.

[0023] Step 3: Following the test parameters in Step 2, firstly, in a wireless state, control the motor rotation using the motor control data processing component and measure the motor input current I1(θ) when the motor rotates to different angular positions; then, after setting the first cable and the second cable on the cable rotation component, control the motor rotation using the motor control data processing component and measure the input current I2(θ) when the motor rotates to the same angular position corresponding to the different angular positions. Calculate the winding torque M(θ) when the motor rotates to different angular positions based on the motor speed n, input voltage U, and input current I, and record it.

[0024] The formula for the winding torque M(θ) is as follows:

[0025] M(θ)=nΔI / U=n(I2(θ)-I1(θ)) / U;

[0026] Complete the measurement of the winding torque of the space photoelectric scanning mechanism.

[0027] Furthermore, it also includes step 4: based on the motor model corresponding to each winding torque M(θ) recorded in step 3, the position of the camera end binding point and the turntable end binding point of the first cable, and the position of the camera end binding point and the turntable end binding point of the second cable, calculate the required length of the first cable and the second cable, and further obtain the sum of the motor mass, the first cable mass and the second cable mass corresponding to each winding torque M(θ).

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] (1) The present invention provides a wire winding torque measuring device for a space photoelectric scanning mechanism, comprising a cable rotation assembly and a motor control data processing assembly. The cable rotation assembly is used to simulate the force state of the first cable and the second cable at different positions during the operation of the space photoelectric scanning mechanism. The motor control data processing assembly is used to obtain the wire winding torque when the motor is rotated to different angle positions. The present invention can improve the measurement efficiency and accuracy of wire winding torque.

[0030] (2) The present invention provides a method for measuring the winding torque of a space photoelectric scanning mechanism. By measuring the winding torque of the motor when it is rotated to different angle positions under different test parameters, and according to the motor model corresponding to each winding torque, the position of the camera end binding point and the turntable end binding point of the first cable, and the position of the camera end binding point and the turntable end binding point of the second cable, the sum of the motor mass, the mass of the first cable and the mass of the second cable corresponding to each winding torque M(θ) is obtained.

[0031] Since the longer the length of the first cable and the second cable, the greater the sum of the masses of the first cable and the second cable, the smaller the winding torque and the smaller the corresponding motor mass. Ideally, the sum of the motor mass, the mass of the first cable and the mass of the second cable should be as small as possible. Therefore, this invention can obtain the relationship between the winding torque and the corresponding sum of the motor mass, the mass of the first cable and the mass of the second cable, which can provide data support for motor selection and provide optimization possibilities for on-orbit motor control. Attached Figure Description

[0032] Figure 1 A schematic diagram of the cable routing for the camera mounted on a lightweight space optoelectronic scanning mechanism;

[0033] Figure 2 This is a schematic diagram of an embodiment of a wire winding torque measuring device for a space photoelectric scanning mechanism according to the present invention;

[0034] Figure 3 This is a cross-sectional view of an embodiment of the present invention (camera frame not shown);

[0035] Figure 4 This is a schematic diagram of the structure of the motor control data processing component in an embodiment of the present invention;

[0036] Figure 5 This is a state diagram of the space photoelectric scanning mechanism winding torque measuring device in step 1 of an embodiment of the space photoelectric scanning mechanism winding torque measuring method of the present invention;

[0037] Figure 6 This is a diagram showing the state of the first cable and the second cable being installed on the winding torque measuring device of the space photoelectric scanning mechanism in step 3 of the present invention.

[0038] The reference numerals in the attached drawings are explained as follows: 01-First cable; 02-Second cable; 03-Camera end binding point; 04-Turntable end binding point; 1-Motor; 2-Motor bracket; 3-Cable turntable end fixing bracket; 4-Coupling; 5-Diaphragm; 6-Cable camera end fixing bracket; 61-Second rotating shaft; 621-First bracket; 622-Second bracket; 623-Third bracket; 624-Fourth bracket; 71-Back-to-back angular contact bearing; 72-Bearing outer pressure ring; 73-Bearing inner pressure ring; 8-First rotating shaft; 91-First connector; 92-Second connector; 101-First gasket; 102-Second gasket; 11-Optical platform; 12-Motor control data processing component. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and exemplary embodiments.

[0040] A space photoelectric scanning mechanism winding torque measuring device includes a cable rotation assembly and a motor 1 control data processing assembly.

[0041] Reference Figure 2 , Figure 3 The cable rotation assembly is used to simulate the stress state of the first cable 01 and the second cable 02 at different positions during operation in the space photoelectric scanning mechanism; the cable rotation assembly includes a motor 1, a motor 1 bracket, a cable turntable end fixing bracket 3, a coupling 4, a diaphragm 5, and a cable camera end fixing bracket 6.

[0042] The cable turntable end fixing bracket 3 is provided with turntable end binding points 04 for the first cable 01 and the second cable 02. The first through hole at the upper end of the cable turntable end fixing bracket 3 is provided with a first rotating shaft 8 through a bearing assembly. The bearing assembly includes an outer bearing pressure ring 72 fixed to the inner wall of the first through hole, an inner bearing pressure ring 73 fixed to the first rotating shaft 8, and a back-to-back angular contact bearing 71 provided between the cable turntable end fixing bracket 3 and the first rotating shaft 8.

[0043] The motor 1 bracket has an L-shaped structure. One end of the motor 1 bracket is fixed to the cable turntable end fixing bracket 3, and the other end is provided with a second through hole.

[0044] The cable camera end fixing bracket 6 includes a second rotating shaft 61 and a camera frame. The camera frame includes a first bracket 621, a second bracket 622, a third bracket 623, and a fourth bracket 624. The first bracket 621 is perpendicular to the axis of the second rotating shaft 61, and one end of the first bracket 621 is fixed to the side wall of the second rotating shaft 61, while the other end is fixed to the middle of the second bracket 622. The second bracket 622 is perpendicular to the first bracket 621, and its two ends are respectively connected to one end of the third bracket 623 and the fourth bracket 624. Camera end binding points 03 for the first cable 01 and the second cable 02 are provided on the second bracket 622. The third bracket 623 and the fourth bracket 624 are both perpendicular to the first bracket 621. A first bracket 621 and a second bracket 622 are both parallel to the axis of the second rotation shaft 61. A third bracket 623 and a fourth bracket 624 are each provided with a sliding groove along their own extension direction. A connector assembly and a gasket assembly are slidably connected to each other. The gasket assembly and the connector assembly are used to adjust the installation position of the first cable 01 and the second cable 02, respectively. The connector assembly includes a first connector 91 and a second connector 92 respectively disposed above and below the sliding groove. The first connector 91 and the second connector 92 are connected by two bolts. The gasket assembly includes a first gasket 101 and a second gasket 102 respectively disposed above and below the sliding groove. The first gasket 101 and the second gasket 102 are connected by two bolts.

[0045] Motor 1 is an encoder-driven DC motor 1. Motor 1 is mounted on motor bracket 2. After the motor shaft of motor 1 passes through the second through hole, it is connected to the first rotating shaft 8 in sequence through coupling 4 and cable camera end fixing bracket 6. A diaphragm 5 is provided in coupling 4 to absorb the angular deviation between shafts.

[0046] Reference Figure 4 The motor control data processing component 12 is used to provide power to the motor 1 and obtain the input current when the motor 1 is running to different angle positions, thereby obtaining the winding torque when the motor 1 is running to different angle positions.

[0047] The motor control data processing component 12 includes a motor control board, a DC power supply, and host computer software installed on a host computer. The motor control board is connected to the motor 1 and is used to provide power drive and control commands to the motor 1, and to collect the angular position information of the motor 1 and the magnitude of the input current of the motor 1. The host computer software is used to process the data and obtain the winding torque when the motor 1 rotates to different angular positions. The output end of the DC power supply is connected to the motor control board and is used to provide power.

[0048] A method for measuring the winding torque of a space photoelectric scanning mechanism includes the following steps:

[0049] Step 1, refer to Figure 5The space photoelectric scanning mechanism winding torque measuring device is installed on the optical platform 11, and the motor 1 axis of the motor 1 is kept perpendicular to the horizontal plane to avoid the influence of the gravity of the cable camera end fixing bracket 6 on the measurement data.

[0050] Step 2: Set the test parameters, including the temperature and pressure of the test environment, the model of motor 1, the position of the camera end binding point 03 and the turntable end binding point 04 of the first cable 01, and the position of the camera end binding point 03 and the turntable end binding point 04 of the second cable 02.

[0051] Step 3: Following the test parameters from Step 2, firstly, in a wireless state, control the rotation of Motor 1 via the Motor 1 control board and measure the input current I1(θ) of Motor 1 when it rotates to different angular positions; then as follows... Figure 6 As shown in the relative positions, after the first cable 01 and the second cable 02 are set on the cable rotating assembly, the motor 1 is controlled to rotate by the motor control board. The input current I2(θ) when the motor 1 rotates to the same angle position corresponding to the different angle positions is measured. Based on the motor speed n, input voltage U, and input current difference ΔI, the winding torque M(θ) when the motor 1 rotates to different angle positions is calculated and recorded.

[0052] The formula for the winding torque M(θ) is as follows:

[0053] M(θ)=nΔI / U=n(I2(θ)-I1(θ)) / U;

[0054] Step 4: Based on the motor 1 model corresponding to each winding torque M(θ) recorded in Step 3, the positions of the camera end binding point 03 and the turntable end binding point 04 of the first cable 01, and the positions of the camera end binding point 03 and the turntable end binding point 04 of the second cable 02, calculate the required lengths of the first cable 01 and the second cable 02, and further obtain the sum of the mass of the motor 1, the mass of the first cable 01, and the mass of the second cable 02 corresponding to each winding torque M(θ), thus completing the measurement of the winding torque of the space photoelectric scanning mechanism.

Claims

1. A device for measuring the winding torque of a space photoelectric scanning mechanism, characterized in that: Includes a cable rotation assembly and a motor control data processing assembly (12); The cable rotation assembly is used to simulate the force state of the first cable (01) and the second cable (02) in different positions during operation in the space photoelectric scanning mechanism. It includes a motor (1), a motor bracket (2), a cable turntable end fixing bracket (3), a coupling (4), and a cable camera end fixing bracket (6). The cable turntable end fixing bracket (3) is provided with turntable end binding points (04) for the first cable (01) and the second cable (02), and a first rotating shaft (8) is provided in the first through hole at the upper end of the cable turntable end fixing bracket (3) through a bearing assembly; One end of the motor bracket (2) is fixed to the cable turntable end fixing bracket (3), and a second through hole is provided on the other end; The cable camera end fixing bracket (6) includes a second rotating shaft (61) and a camera frame disposed on the side wall of the second rotating shaft (61). The camera frame includes a first bracket (621), a second bracket (622), a third bracket (623), and a fourth bracket (624). The first bracket (621) is arranged perpendicular to the axis of the second rotating shaft (61), and one end of the first bracket (621) is fixed to the side wall of the second rotating shaft (61), and the other end is fixed to the middle of the second bracket (622). The second bracket (622) is perpendicular to the first bracket (621), and the two ends of the second bracket (622) are respectively... Connect one end of the third bracket (623) and the fourth bracket (624). The third bracket (623) and the fourth bracket (624) are both perpendicular to the first bracket (621) and the second bracket (622), and both are parallel to the axis of the second rotation axis (61). A connector assembly is slidably connected on the third bracket (623), and a gasket assembly is slidably connected on the fourth bracket (624). The gasket assembly and the connector assembly are used to adjust the installation position of the first cable (01) and the second cable (02), respectively. Camera end binding points (03) of the first cable (01) and the second cable (02) are provided on the second bracket (622). The motor (1) is mounted on the motor bracket (2), and its motor shaft passes through the second through hole and is connected to the first rotating shaft (8) in sequence through the coupling (4) and the cable camera end fixing bracket (6); The motor control data processing component (12) is connected to the motor (1) and is used to provide power to the motor (1) and obtain the input current when the motor (1) is running to different angle positions, thereby obtaining the winding torque when the motor (1) is running to different angle positions.

2. The space photoelectric scanning mechanism winding torque measuring device according to claim 1, characterized in that: The third bracket (623) and the fourth bracket (624) are both provided with sliding grooves along their own extension direction. The connector assembly includes a first connector (91) and a second connector (92) respectively disposed above and below the sliding groove. The first connector (91) and the second connector (92) are connected by at least one bolt. The gasket assembly includes a first gasket (101) and a second gasket (102) respectively disposed above and below the sliding groove. The first gasket (101) and the second gasket (102) are connected by at least one bolt.

3. The space photoelectric scanning mechanism winding torque measuring device according to claim 1, characterized in that: The motor control data processing component (12) includes a motor control board, host computer software and a DC power supply; the motor control board is connected to the motor (1) and is used to provide power drive and control commands to the motor (1), and to collect the angular position information of the motor (1) and the input current of the motor (1); the host computer software is used to perform data processing to obtain the winding torque; the DC power supply is connected to the motor control board and is used to provide power.

4. A space photoelectric scanning mechanism winding torque measuring device according to any one of claims 1 to 3, characterized in that: The bearing assembly includes an outer bearing ring (72) fixed to the inner wall of the first through hole of the cable turntable end fixing bracket (3), an inner bearing ring (73) fixed to the end of the first rotating shaft (8), and a back-to-back angular contact bearing (71) disposed between the cable turntable end fixing bracket (3) and the first rotating shaft (8).

5. The space photoelectric scanning mechanism winding torque measuring device according to claim 4, characterized in that: The coupling (4) is provided with a diaphragm (5) for absorbing angular deviations between shafts.

6. The space photoelectric scanning mechanism winding torque measuring device according to claim 5, characterized in that: The motor bracket (2) has an L-shaped structure.

7. A method for measuring the winding torque of a space photoelectric scanning mechanism, comprising using a wire winding torque measuring device for a space photoelectric scanning mechanism as described in any one of claims 1-6; characterized in that, The steps include the following: Step 1: Install the space photoelectric scanning mechanism winding torque measuring device on the optical platform (11) and keep the motor shaft of the motor (1) perpendicular to the horizontal plane; Step 2: Set the test parameters, including the temperature and pressure of the test environment, the model of the motor (1), the position of the camera end binding point (03) and the turntable end binding point (04) of the first cable (01), and the position of the camera end binding point (03) and the turntable end binding point (04) of the second cable (02). Step 3: Following the test parameters in Step 2, firstly, in a wireless state, control the motor (1) to rotate using the motor control data processing component (12) and measure the input current of the motor (1) when it rotates to different angular positions. Then, after setting the first cable (01) and the second cable (02) on the cable rotation assembly, the motor (1) is controlled to rotate by the motor control data processing assembly (12), and the input current when the motor (1) rotates to the same angle position corresponding to the different angle positions is measured. According to the motor (1) speed Input voltage Input current Calculate the winding torque of motor (1) when it rotates to different angular positions. And record it; The winding torque The formula is as follows: ； Complete the measurement of the winding torque of the space photoelectric scanning mechanism.

8. The method for measuring the winding torque of a space photoelectric scanning mechanism according to claim 7, characterized in that, It also includes step 4: based on the winding torque recorded in step 3 for each wire. Based on the corresponding motor (1) model, the positions of the camera end binding point (03) and the turntable end binding point (04) of the first cable (01), and the positions of the camera end binding point (03) and the turntable end binding point (04) of the second cable (02), calculate the required lengths of the first cable (01) and the second cable (02), and further obtain the winding torque of each cable. The sum of the mass of the corresponding motor (1), the mass of the first cable (01), and the mass of the second cable (02).

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