Fine tracking device based on combined flexible supporting structure

Abstract

The invention discloses a fine tracking device based on a combined flexible supporting structure. The fine tracking device comprises a shell, a voice coil motor array, a flexible membrane spring suite, a load platform and a real-time control hardware system based on double MEMS gyroscopes. The upper gyroscope is arranged in the load platform; a voice coil motor array is mounted at the bottom of the load platform, and a motor drives the load platform to do two-axis deflection motion; the load platform is connected with the shell through a flexible rod membrane spring suite; the lower gyroscope is arranged in a cavity at the bottom of the shell; the sensor system is formed in the mode that a serial port module corresponding to a control panel STM32H743 is in butt joint with an upper gyroscope sensor and a lower gyroscope sensor, and a main control panel obtains the acceleration of the upper sensor and the acceleration of the lower sensor through A / D sampling and calculates a control signal. According to the invention, two-dimensional co-pivot rotation can be realized, the maximum outer diameter is 40mm, and mirror surface angle deflection of about + / -8 degrees can be achieved; the device can resist large impact vibration, the axial height of the fine tracking device can be saved, and the structure of the device is more compact.

Description

Technical Field

[0001] The present invention belongs to the technical field of photoelectric scanning and tracking, and in particular relates to a precision tracking device based on a combined flexible support structure, which can be used to suppress various disturbances, controllably deflect a load, and achieve precision tracking mission objectives. Background Art

[0002] Precision tracking of aircraft has become one of the important functions that aircraft must have. The precise capture, stabilization and tracking technology of the optical path has become an important research content. The tracking accuracy index is of great significance in practical applications. As the core actuator for achieving target tracking, the performance of the precision tracking device will directly affect the tracking accuracy of the aircraft and play an important role in practical use. It mainly includes three functions: tracking the target, outputting the information required to realize the control law, and eliminating the influence of disturbances on stability.

[0003] Nowadays, precision tracking tasks require devices to develop in the direction of high precision, light weight, miniaturization, and low maintenance. Traditional precision tracking devices for aircraft generally use two-axis or three-axis frame-type rigid mechanical structures. Such mechanisms have high stability and load-bearing capacity, but due to their large weight and volume, they require regular lubrication and maintenance of hinges, bearings and other moving parts, and friction and wear are prone to occur between the shaft systems, which will cause errors during installation and adjustment, making it difficult to meet the needs of current precision tracking tasks. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a precision tracking device based on a combined flexible support structure, including a shell, a voice coil motor array, a flexible membrane spring kit, a load platform, and a real-time control hardware system based on dual MEMS gyroscopes. It can realize two-dimensional co-pivot rotation with a maximum outer diameter of 40 mm and can achieve a mirror angle deflection of about ±8°; it can withstand large impact vibrations and save the axial height of the precision tracking device, making the device structure more compact.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme: A precision tracking device based on a combined flexible support structure, comprising a housing, a voice coil motor array, a flexible rod membrane spring kit, a load platform, and a real-time control hardware system based on a dual MEMS gyroscope; The load platform is supported on the top of the housing by a flexible rod membrane spring kit; The flexible rod membrane spring kit is arranged between the load platform and the housing; The voice coil motor array is arranged between the load platform and the housing; The dual MEMS gyro-based real-time control hardware system is arranged between the load platform and the housing.

[0006] Further, the shell includes a shell frame and a shell support; The housing frame is fixed on the top of the housing support; The housing support is fixed on the external fixed platform.

[0007] Furthermore, the flexible membrane spring kit includes a membrane spring assembly and a flexible rod assembly; The membrane spring assembly is arranged between the load platform and the housing frame; The flexible rod assembly is fixed in a groove between the load platform and the housing frame.

[0008] Furthermore, the voice coil motor array includes four sets of voice coil motors, four motor supports, and a magnet mounting tool; The four sets of voice coil motors are arranged in the grooves at the bottom of the load platform and fixed on the top of the motor support; The four motor supports are fixed inside the housing frame.

[0009] Further, the load platform includes a load bracket, a load, and four sets of load supports; The load bracket is connected to the membrane spring assembly and fixed on the top of the housing frame; Four sets of load supports are fixed on the top of the load bracket respectively; The load is fixed on top of the load support.

[0010] Furthermore, the real-time control hardware system based on dual MEMS gyroscopes includes an upper MEMS gyroscope, a lower MEMS gyroscope, and a main control board; The upper MEMS gyroscope is arranged on the top of the load bracket; The lower MEMS gyroscope is arranged in the cavity of the housing support; The cables of the dual MEMS gyroscope are led out from the through slots of the load bracket and the housing support and connected to the main control board. The main control board obtains the acceleration of the upper and lower sensors through A / D sampling and calculates the control signal.

[0011] Further, the membrane spring assembly includes a membrane spring upper pressure plate, a flexible membrane spring, and a flexible membrane spring lower pressure plate, and the flexible rod assembly includes an upper flexible rod support, a flexible rod, and a lower flexible rod support; The membrane spring upper pressure plate, the flexible membrane spring, and the flexible membrane spring lower pressure plate are sequentially connected to form a membrane spring assembly; The upper flexible rod support, the flexible rod and the lower flexible rod support are connected in sequence to form a flexible rod assembly.

[0012] Further, the voice coil motor includes a magnet and a coil; The magnet is arranged in a groove at the bottom of the load bracket; The coil is fixed on the top of the motor support.

[0013] Preferably, the function of the shell is to provide a main configuration framework for the overall device, and to provide installation positioning reference, precision reference and installation space for other structures; the voice coil motor array is connected to the load platform through a positioning groove, and the bottom is connected to the shell through a cross countersunk screw, and its function is to provide a driving torque for the load platform to deflect around two axes within the surface; the function of the flexible rod membrane spring kit is to provide flexible support for the load platform, the bottom of which is embedded in the groove at the bottom of the shell, and the top is connected to the top of the shell through a hexagon socket screw; the function of the load platform is to provide a stable installation foundation for the load of this device, and the bottom is connected to the flexible rod membrane spring kit through a hexagon socket screw.

[0014] Preferably, the real-time control hardware system based on dual MEMS gyroscopes includes a main control board, an upper MEMS gyroscope, a lower MEMS gyroscope, and sensor tooling, etc.; the MEMS gyroscope is used to measure the deflection angle of the load platform, which is used as a feedback signal through A / D data acquisition, and is solved by the main control board to generate a control signal for a precision tracking mechanical device, and then a driving signal is generated through D / A data output and a power amplifier, thereby controlling the voice coil motor array to output axial motion, thereby driving the load platform to generate a desired analog vibration signal.

[0015] The beneficial effects of the present invention are: (1) The present invention can realize two-dimensional co-pivot rotation under load and can generate vibration excitation signals with a maximum of two degrees of freedom; (2) The present invention has a larger working space and a larger load capacity; the former means that when the same drive is selected, the present invention can obtain a larger rotation space; the latter means that the present invention has a larger load capacity and more load types; (3) The present invention forms a dual-axis, four-voice coil motor array drive mechanism with high precision, fast response speed, large motion stroke, and low driving voltage. At the same time, the working gap between the mover and the stator avoids friction, collision and other problems, so it has good environmental adaptability and anti-interference ability; (4) The present invention forms a real-time control hardware system based on dual MEMS gyroscopes. The MEMS tilt sensor is small in size, low in power consumption, and high in reliability. This also means that the size of the mechanical device is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An exploded view of a precision tracking device based on a combined flexible support structure of the present invention; Figure 2 A top view of the membrane spring of the present invention; Figure 3 A top view of the housing frame of the present invention; Figure 4 A top view of a load bracket of the present invention; Figure 5 A top view of the housing support of the present invention; Figure 6 is a schematic diagram of a flexible rod assembly of the present invention; Figure 7 It is a schematic diagram of the installation tool of the motor magnet of the present invention.

[0017] Among them, the figure markings are: 101—load, 102—load support, 103—load bracket, 201—membrane spring upper pressure plate, 202—flexible membrane spring, 203—membrane spring lower pressure plate, 204—flexible rod, 205—flexible rod support, 301—needle iron boron magnet, 302—coil, 303—motor support, 401—housing frame, 402—housing support, 501—upper MEMS gyroscope, 502—lower MEMS gyroscope, 600—magnet installation tool, 1031—first positioning groove, 1032—first threaded hole , 1033—second positioning groove, 1034—third positioning groove, 1035—second threaded hole, 1036—third threaded hole, 2021—first through hole, 2022—second through hole, 4011—fourth threaded hole, 4012—fifth threaded hole, 4013—sixth threaded hole, 4014—seventh threaded hole, 4015—fourth positioning groove, 4016—eighth threaded hole, 4021—ninth threaded hole, 4022—tenth threaded hole, 6001—fourth positioning groove, 6002—eleventh threaded hole. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0019] like Figure 1 to Figure 6 As shown, the present invention provides a precision tracking device based on a combined flexible support structure, including a housing, a voice coil motor array, a flexible rod membrane spring kit, a load platform, and a real-time control hardware system based on a dual MEMS gyroscope. The flexible rod membrane spring kit includes a flexible rod assembly and a membrane spring assembly.

[0020] The precision tracking device is provided with a load 101, a load support 102, an upper MEMS gyroscope 501, a load bracket 103, a membrane spring upper pressure plate 201, a flexible membrane spring 202, a membrane spring lower pressure plate 203, a shell frame 401, a flexible rod support 205, a flexible rod 204, a NdFeB magnet 301, a coil 302, a motor support 303, a lower MEMS gyroscope 502, and a shell support 402 in sequence from top to bottom. The upper MEMS gyroscope 501 is arranged in the load platform; a voice coil motor array is installed at the bottom of the load platform, and the motor drives the load platform to perform two-axis deflection motion; the load platform and the shell are connected through a flexible rod membrane spring kit; the lower MEMS gyroscope 502 is arranged in the cavity at the bottom of the shell; the real-time control hardware system based on the dual MEMS gyroscopes is composed of a control board STM32H743 corresponding to the serial port module to connect the upper MEMS gyroscope 501 and the lower MEMS gyroscope 502, and the main control board obtains the acceleration of the upper MEMS gyroscope 501 and the lower MEMS gyroscope 502 through A / D sampling, and calculates the control signal.

[0021] The function of the shell is to provide a main configuration framework for the overall device, and to provide installation positioning reference, precision reference and installation space for other structures; the voice coil motor array is connected to the load platform through a positioning groove, and the bottom is connected to the shell through a cross countersunk screw, and its function is to provide a driving torque for the load platform to deflect around two axes within the surface; the function of the flexible rod membrane spring kit is to provide flexible support for the load platform, the bottom is embedded in the groove at the bottom of the shell, and the top is connected to the top of the shell through a hexagon socket screw; the load platform provides a stable installation foundation for the load of this device, and the bottom is connected to the flexible rod membrane spring kit through a hexagon socket screw.

[0022] Optionally, the load can be a camera module, an infrared module, a reflector, etc. Different modules can be configured with different tooling. In this embodiment, the camera in the ELF3 small array micro infrared thermal imaging temperature measurement module is installed to realize the tracking function.

[0023] Furthermore, the load 101 is connected to the load support 102 by using a hexagon socket screw; the load support 102 is connected to the load bracket 103 by using a hexagon socket screw through the second threaded hole 1035.

[0024] Furthermore, the membrane spring assembly includes a membrane spring upper pressure plate 201, a flexible membrane spring 202, and a flexible membrane spring lower pressure plate 203. The membrane spring upper pressure plate 201 is arranged above the flexible membrane spring 202, and is connected to the fourth threaded hole 4011 on the outer shell frame 401 through the first through hole 2021 using an inner hexagon screw. The membrane spring lower pressure plate 203 is arranged below the flexible membrane spring 202, and is connected to the third threaded hole 1036 on the load 103 bracket through the second through hole 2022 using an inner hexagon screw.

[0025] Optionally, the material of the flexible membrane spring 202 can be titanium alloy, stainless steel, or beryllium bronze. The thermal expansion coefficient of titanium alloy is relatively high, the yield strength of stainless steel is relatively low, and the various indicators of beryllium bronze are relatively moderate. When in use, the corresponding material can be selected according to the actual working environment.

[0026] Furthermore, if Figure 6 As shown, the flexible rod assembly includes a flexible rod support 205 and a flexible rod 204, and the flexible rod support 205 includes an upper flexible rod support and a lower flexible rod support. The upper flexible rod support is connected to the flexible rod 204 through a central through hole, and the lower flexible rod support is connected to the other end of the flexible rod 204 in the same way. The upper flexible rod support is set in the second positioning groove 1033 and connected through the first threaded hole 1032 using a cross countersunk screw, and the lower flexible rod support is set in the fourth positioning groove 4015 of the housing frame 401 and connected through the seventh threaded hole 4014.

[0027] The flexible rod membrane spring support described in the device is adopted to ensure the deflection range of the load, reduce the weight and occupied space, make the internal structure of the device more compact, and greatly improve the stability and impact and vibration resistance of the device; and because the use of moving pairs such as hinges and bearings is avoided, the accuracy of the device is improved, and the maintenance time and cost are reduced.

[0028] Further, the voice coil motor array includes: four NdFeB magnets 301, four coils 302, and four motor supports 303. The four NdFeB magnets 301 are placed in the fourth positioning groove 6001 of the magnet installation tool 600. The installation tool 600 is connected through the eleventh threaded hole 6002 and the eighth threaded hole 4016 using a hexagon socket screw. Figure 7 As shown, the epoxy resin structural adhesive E-120HP is used to cure for 12 to 24 hours and fixed in the third positioning groove 1034 of the load bracket 103. The motor support 303 is connected through the fifth threaded hole 4012 using a cross countersunk screw, and the coil 302 is set above the motor support 303 through a hexagon socket screw.

[0029] Furthermore, the driving arrangement of four voice coil motors consisting of NdFeB magnets 301, coils 302, and motor supports 303 is a dual-axis type with four motors. The NdFeB magnets 301 have the same external polarity, and the four voice coil motors are paired two by two to provide driving torque for the load platform to deflect around two axes within the plane.

[0030] Preferably, the NdFeB magnet 301 is made of NdFeB rare earth permanent magnet material with high magnetic energy product, high remanence and high coercivity; the coil 302 includes: a magnetic conductor and a coil ring; the magnetic conductor is made of a soft magnetic material with high magnetic permeability, so that the precision tracking device has a lighter weight and a smaller structural size, which can significantly improve its acceleration performance.

[0031] The use of voice coil motors with high precision, fast response speed, large motion range and high bandwidth can reduce the requirements for the required driving voltage. At the same time, the working gap between the mover and the stator avoids friction, collision and other problems, so it has good environmental adaptability and anti-interference ability; it can effectively reduce the size of the motor, making the overall layout of the precision tracking device more compact.

[0032] Furthermore, the upper MEMS gyroscope 501 is fixed to the surface of the square first positioning groove 1031 by using epoxy resin structural adhesive E-120HP, and the lower MEMS gyroscope 502 is fixed to the square groove of the housing support 402 by using the same method.

[0033] The use of a MEMS inclination sensor with small size, low power consumption and high reliability can effectively improve the stability and anti-interference performance of the device; it can effectively reduce the size of the motor, making the overall layout of the precision tracking device more compact.

[0034] Furthermore, the housing support 402 is connected to the housing frame 401 through the tenth threaded hole 4022 and the sixth threaded hole 4013 using a cross countersunk screw; in addition, the device is connected to the external tooling through the ninth threaded hole 4021 using a cross countersunk screw.

[0035] The flexible rod membrane spring support described in the present invention is adopted, which greatly improves the stability and impact and vibration resistance of the device while ensuring the deflection range of the load; and reduces the mass and occupied space of the device, making the internal structure of the device more compact. The support method of the flexible rod membrane spring can avoid the friction problem of the moving pair of the traditional rigid mechanical structure, and reduce the number of maintenance times; the voice coil motor with high precision, fast response speed, large motion stroke and high bandwidth can reduce the requirements of the required driving voltage, and the working gap between the mover and the stator avoids friction, collision and other problems, so it has good environmental adaptability and anti-interference ability; it can effectively reduce the size of the motor, making the overall layout of the precision tracking device more compact. The use of a MEMS inclination sensor with small size, low power consumption and high reliability can effectively improve the stability and anti-interference performance of the device; it can effectively reduce the size of the motor, making the overall layout of the precision tracking device more compact.

[0036] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention. They do not constitute limitations on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or within the equivalent forms of such scope and boundaries.

Claims

1. A precision tracking device based on a combined flexible support structure, characterized in that: It includes a housing, a voice coil motor array, a flexible rod membrane spring kit, a load platform, and a real-time control hardware system based on dual MEMS gyroscopes; The load platform is supported on the top of the housing by a flexible rod membrane spring kit; The flexible rod membrane spring kit is arranged between the load platform and the housing; The voice coil motor array is arranged between the load platform and the housing; The dual MEMS gyro-based real-time control hardware system is arranged between the load platform and the housing.

2. According to claim 1, a precise tracking device based on a combined flexible support structure is characterized in that: The shell comprises a shell frame and a shell support; The housing frame is fixed on the top of the housing support; The housing support is fixed on the external fixed platform.

3. A precise tracking device based on a combined flexible support structure according to claim 1 or 2, characterized in that: The flexible membrane spring kit includes a membrane spring assembly and a flexible rod assembly; The membrane spring assembly is arranged between the load platform and the housing frame; The flexible rod assembly is fixed in a groove between the load platform and the housing frame.

4. A precise tracking device based on a combined flexible support structure according to claim 1 or 2, characterized in that: The voice coil motor array includes four sets of voice coil motors, four motor supports, and a magnet installation tool; The four sets of voice coil motors are arranged in the grooves at the bottom of the load platform and fixed on the top of the motor support; The four motor supports are fixed inside the housing frame.

5. A precise tracking device based on a combined flexible support structure according to claim 1 or 2, characterized in that: The load platform includes a load bracket, a load, and four sets of load supports; The load bracket is connected to the membrane spring assembly and fixed on the top of the housing frame; Four sets of load supports are fixed to the top of the load bracket respectively; The load is fixed on top of the load support.

6. A precise tracking device based on a combined flexible support structure according to claim 1 or 2, characterized in that: The real-time control hardware system based on dual MEMS gyroscopes includes an upper MEMS gyroscope, a lower MEMS gyroscope, and a main control board; The upper MEMS gyroscope is arranged on the top of the load bracket; The lower MEMS gyroscope is arranged in the cavity of the housing support; The cables of the dual MEMS gyroscope are led out from the through slots of the load bracket and the housing support and connected to the main control board. The main control board obtains the acceleration of the upper and lower sensors through A / D sampling and calculates the control signal.

7. The precise tracking device based on the combined flexible support structure according to claim 2, characterized in that: The membrane spring assembly includes a membrane spring upper pressure plate, a flexible membrane spring, and a flexible membrane spring lower pressure plate, and the flexible rod assembly includes an upper flexible rod support, a flexible rod, and a lower flexible rod support; The membrane spring upper pressure plate, the flexible membrane spring, and the flexible membrane spring lower pressure plate are sequentially connected to form a membrane spring assembly; The upper flexible rod support, the flexible rod and the lower flexible rod support are connected in sequence to form a flexible rod assembly.

8. According to claim 4, a precise tracking device based on a combined flexible support structure is characterized in that: The voice coil motor comprises a magnet and a coil; The magnet is arranged in a groove at the bottom of the load bracket; The coil is fixed on the top of the motor support.

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