High-integration actuator oriented to vibration suppression direction

Abstract

The invention discloses a high-integration actuator suitable for vibration suppression pointing. The high-integration actuator specifically comprises an L-shaped integrated mounting support, a linear voice coil motor, a linear sliding rail, a linear sliding rail adapter bracket, a force sensor, a displacement sensor, a liquid damper and the like. The invention provides a scheme that the actuator modularly integrates the linear voice coil motor, the liquid damper, the position feedback and the force feedback, and force / position compound control and active vibration suppression control of the actuator can be realized through the linear voice coil motor, the position feedback and the force feedback; the liquid damper can realize passive vibration suppression of the actuator. Through the function combination of the actuator, multiple functions of high-precision actuation pointing, active vibration suppression, passive vibration suppression, active and passive integrated vibration suppression and the like of a spacecraft load can be realized. And through the modular integration mode, function cutting can be carried out according to requirements, the purpose of reducing the size and / or weight is achieved, and the application occasion of the product is expanded.

Description

Technical Field

[0001] The present invention relates to the field of precise pointing and vibration control of spacecrafts, and relates to a highly integrated actuator for vibration suppression and pointing. Background Art

[0002] There are many disturbance sources during the on-orbit operation of spacecrafts, such as flywheels, torque gyroscopes, drive mechanisms, and flexible appendages. The above disturbance sources will generate vibration responses with different frequency bands and different magnitudes to the spacecraft under normal operating conditions. The new generation of satellite platforms has put forward more stringent requirements for the ultra-precision and ultra-stable control of payloads, and there is an urgent need for more advanced vibration control actuator technologies.

[0003] The micro-vibration bandwidth of spacecrafts ranges from 10 -6 Hz to 1000 Hz; at the same time, flexible appendages such as antennas, solar arrays, and space trusses will be disturbed by various internal and external micro-vibrations during space operation, exciting low-frequency, large-amplitude, and long-duration vibrations, generating external vibration excitation to the body mechanism. The traditional vibration suppression actuator technologies based on active or passive methods cannot meet the vibration suppression requirements of spacecrafts under multiple working conditions and wide bandwidths. Summary of the Invention

[0004] The purpose of the present invention is to design a highly integrated actuator for vibration suppression and pointing. The actuator integrates an active actuation module, a liquid damping module, and a sensing module, and has force / position composite control and the ability of integrated active and passive vibration suppression; the actuator has the characteristics of a large stroke, high precision, and wide bandwidth. Through the integration of the actuator, high-precision pointing of sensitive payloads, efficient vibration suppression, and rapid attenuation of low-frequency large-amplitude vibrations of flexible appendages can be achieved. At the same time, the actuator is modularly designed, and module tailoring can be carried out according to different application scenarios, with good adaptability.

[0005] In order to achieve the above purpose, the present invention provides a highly integrated actuator for vibration suppression and pointing. The highly integrated actuator includes an L-shaped integrated mounting support 1, a linear voice coil motor 2, a first linear slide rail 9, a first linear slide rail adapter bracket 3, and a displacement sensor 8; wherein,

[0006] The linear voice coil motor 2 is fixedly installed on the side of the L-shaped integrated mounting support 1; the output shaft 16 of the linear voice coil motor 2 has a lateral displacement;

[0007] The first linear slide rail 9 is arranged on the bottom of the L-shaped integrated mounting support 1 and has a lateral displacement; the first linear slide rail adapter bracket 3 is fixedly installed on the first linear slide rail 9;

[0008] The first linear slide rail adapter bracket 3 is simultaneously installed on the output shaft 16 of the linear voice coil motor 2;

[0009] The displacement sensor 8 is installed on the first linear slide rail 9 and is used to measure the displacement of the output shaft 16 of the linear voice coil motor 2.

[0010] Preferably, the highly integrated actuator further includes a second linear slide rail 7, a second linear slide rail adapter bracket 5, and a force sensor 4; among them,

[0011] The second linear slide rail 7 is adjacent to the first linear slide rail 9 and is arranged on the bottom edge of the L-shaped integrated mounting seat 1 in sequence with the first linear slide rail 9, having a lateral displacement; the second linear slide rail adapter bracket 5 is fixedly installed on the second linear slide rail 7;

[0012] The second linear slide rail adapter bracket 5 is simultaneously installed on the output shaft 6 of the actuator;

[0013] The output shaft 6 of the actuator and the output shaft 16 of the linear voice coil motor 2 are on the same horizontal line;

[0014] A force sensor 4 is installed between the output shaft 16 of the linear voice coil motor 2 and the output shaft 6 of the actuator, and is used to measure the output force of the linear voice coil motor 2.

[0015] Preferably, the highly integrated actuator further includes a liquid damper 10 and a connecting plate 11; the liquid damper 10 penetrates through the side edge of the L-shaped integrated mounting seat 1 located below the linear voice coil motor 2; the connecting plate 11 is used to connect the liquid damper 10 to the part of the output shaft 16 of the linear voice coil motor 2 located outside the side edge of the L-shaped integrated mounting seat 1; the liquid damper 10 is used to realize the passive vibration suppression function of the actuator.

[0016] Preferably, the built-in linear bearing 12 of the output shaft 16 of the linear voice coil motor 2 and the first linear slide rail adapter bracket 3 jointly play a role in supporting and guiding, so as to prevent the driving coil 15 of the linear voice coil motor 2 from contacting and colliding with the outer magnetic conductor 13 and the inner magnetic conductor 14.

[0017] The significant advantages of the present invention compared with the prior art are:

[0018] (1) By integrating a linear voice coil actuator, a liquid damper, a force sensor, and a position sensor, the actuator has functions such as force / position composite control, active vibration suppression, passive vibration suppression, and integrated active and passive vibration suppression;

[0019] (2) Modular design, according to different application scenarios, the modules and functions can be freely cut, having good applicability;

[0020] (3) The output shaft of the linear voice coil motor is guided by an in-built linear bearing and a linear slide rail, which can reduce the output friction force and avoid the rotational movement of the output shaft.

[0021] (4) The output shaft of the linear voice coil motor and the output shaft of the actuator are supported by a linear slide rail adapter plate, ensuring that the force sensor is only affected by axial forces, avoiding damage to the force sensor caused by tangential forces, and improving the axial output force measurement accuracy at the same time. Description of the Drawings

[0022] A highly integrated actuator for vibration suppression and pointing of the present invention is given by the following embodiments and drawings.

[0023] Figure 1 It is a schematic structural diagram of a highly integrated actuator for vibration suppression and pointing according to an embodiment of the present invention.

[0024] Figure 2 It is a structural sectional view of a highly integrated actuator for vibration suppression and pointing according to an embodiment of the present invention. Detailed Embodiment

[0025] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0026] Figure 1 It is a schematic structural diagram of a highly integrated actuator for vibration suppression and pointing according to an embodiment of the present invention. The highly integrated actuator includes an L-shaped integrated mounting base 1, a linear voice coil motor 2, a first linear slide rail 9, a first linear slide rail adapter bracket 3, and a displacement sensor 8. Among them,

[0027] The linear voice coil motor 2 is fixedly installed on the side of the L-shaped integrated mounting base 1; the output shaft 16 of the linear voice coil motor 2 has a lateral displacement.

[0028] The first linear slide rail 9 is arranged on the bottom of the L-shaped integrated mounting base 1 and has a lateral displacement; the first linear slide rail adapter bracket 3 is fixedly installed on the first linear slide rail 9.

[0029] The first linear slide rail adapter bracket 3 is simultaneously installed on the output shaft 16 of the linear voice coil motor 2.

[0030] The displacement sensor 8 is installed on the first linear slide rail 9 and is used to measure the displacement of the output shaft 16 of the linear voice coil motor 2.

[0031] According to an embodiment of the present invention, the highly integrated actuator further includes a second linear slide rail 7, a second linear slide rail adapter bracket 5, and a force sensor 4. Among them,

[0032] The second linear slide rail 7 is adjacent to the first linear slide rail 9 and is arranged on the bottom edge of the L-shaped integrated mounting bracket 1 in sequence with the first linear slide rail 9, having a lateral displacement; a second linear slide rail adapter bracket 5 is fixedly installed on the second linear slide rail 7;

[0033] The second linear slide rail adapter bracket 5 is simultaneously installed on the output shaft 6 of the actuator;

[0034] The output shaft 6 of the actuator is on the same horizontal line as the output shaft 16 of the linear voice coil motor 2;

[0035] A force sensor 4 is installed between the output shaft 16 of the linear voice coil motor 2 and the output shaft 6 of the actuator for measuring the output force of the linear voice coil motor 2.

[0036] According to an embodiment of the present invention, the highly integrated actuator further includes a liquid damper 10 and a connecting plate 11; the liquid damper 10 penetrates through the side edge of the L-shaped integrated mounting bracket 1 located below the linear voice coil motor 2; the connecting plate 11 is used to connect the liquid damper 10 to the part of the output shaft 16 of the linear voice coil motor 2 located outside the side edge of the L-shaped integrated mounting bracket 1; the liquid damper 10 is used to realize the passive vibration suppression function of the actuator.

[0037] According to an embodiment of the present invention, the built-in linear bearing 12 of the output shaft 16 of the linear voice coil motor 2 and the first linear slide rail adapter bracket 3 jointly play a role in supporting and guiding to prevent the driving coil 15 of the linear voice coil motor 2 from contacting and colliding with the outer magnetic conductor 13 and the inner magnetic conductor 14.

[0038] In the embodiment of the present invention, the linear voice coil motor, the liquid damper, the force sensor, and the displacement sensor are all modularly designed, and the actuator can be freely combined modularly according to different application scenarios to realize functions such as accurate load pointing and wide-band vibration suppression.

[0039] In the embodiment of the present invention, by combining the linear voice coil motor, the force sensor, and the displacement sensor, the actuator can realize position closed-loop output, force closed-loop output, force / position composite control, and active vibration suppression functions; when the linear voice coil motor is not working, through the liquid damper connected in parallel with the output shaft of the linear voice coil motor, the passive vibration suppression function of the actuator can be realized based on the liquid damping force; when the linear voice coil motor, the liquid damper, the force sensor, and the displacement sensor are used for composite control, the main passive integrated vibration suppression function of the actuator can be realized.

[0040] In the embodiment of the present invention, the output shaft of the linear voice coil motor is guided by the built-in linear bearing and the first linear slide rail, which can avoid the contact between the driving coil of the linear voice coil motor and the magnetic conductor, improve the output displacement accuracy of the output shaft of the linear voice coil motor and reduce the friction force; the first linear slide rail can avoid the rotational movement of the output shaft of the linear voice coil motor.

[0041] In the above-mentioned high-integration actuator for vibration suppression and pointing, the two ends of the S-shaped force sensor are respectively connected to the output shaft of the linear voice coil motor and the output shaft of the actuator; the output force of the linear voice coil motor can be measured in real time by the force sensor; since the output shaft of the linear voice coil motor and the output shaft of the actuator are axially guided by the first linear slide rail and the second linear slide rail respectively, the force sensor is only affected by the axial force, avoiding the tangential force of the sensor that may be generated by the non-guided installation, preventing the sensor from being damaged by the axial force, and improving the axial force measurement accuracy of the sensor at the same time.

[0042] Although the content of the present invention has been introduced in detail through the above specific embodiments, it should be understood that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

[0043] Although the present invention is used for spacecraft payload pointing and vibration suppression, it can also be used as a general actuator in the fields of aviation, ships and industrial equipment. Users can flexibly and conveniently realize the control and vibration control of different products by means of module, function tailoring, modification of drive components, etc. according to their specific application fields. The parts not elaborated in detail in the present invention belong to the well-known technology in the art.

[0044] The above is only the specific embodiment of the device of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those familiar with the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A highly integrated actuator oriented towards vibration suppression, characterized in that: The highly integrated actuator comprises an L-shaped integrated mounting support (1), a linear voice coil motor (2), a first linear slide rail (9), a first linear slide rail adapter bracket (3), and a displacement sensor (8); wherein: The linear voice coil motor (2) is fixedly mounted on the side of the L-shaped integrated mounting support (1); the output shaft (16) of the linear voice coil motor (2) has a lateral displacement; The first linear slide rail (9) is arranged on the bottom edge of the L-shaped integrated mounting support (1) and has a lateral displacement; the first linear slide rail adapter bracket (3) is fixedly mounted on the first linear slide rail (9); The first linear slide rail adapter bracket (3) is simultaneously mounted on the output shaft (16) of the linear voice coil motor (2); The displacement sensor (8) is mounted on the first linear slide rail (9) and is used to measure the displacement of the output shaft (16) of the linear voice coil motor (2).

2. A highly integrated actuator oriented toward vibration suppression according to claim 1, characterized in that: The highly integrated actuator further comprises a second linear slide rail (7), a second linear slide rail adapter bracket (5) and a force sensor (4); wherein: The second linear slide rail (7) is adjacent to the first linear slide rail (9), and is arranged on the bottom edge of the L-shaped integrated mounting support (1) in sequence with the first linear slide rail (9), with lateral displacement; the second linear slide rail adapter bracket (5) is fixedly mounted on the second linear slide rail (7); The second linear guide rail adapter bracket (5) is also mounted on the output shaft (6) of the actuator; The output shaft (6) of the actuator and the output shaft (16) of the linear voice coil motor (2) are on the same horizontal line; The force sensor (4) is installed between the output shaft (16) of the linear voice coil motor (2) and the output shaft (6) of the actuator, and is used to measure the output force of the linear voice coil motor (2).

3. A highly integrated actuator oriented toward vibration suppression according to claim 1 or 2, characterized in that: The highly integrated actuator also includes a liquid damper (10) and a connecting plate (11); the liquid damper (10) passes through the side of the L-shaped integrated mounting support (1) located below the linear voice coil motor (2); the connecting plate (11) is used to connect the liquid damper (10) and the output shaft (16) of the linear voice coil motor (2) located outside the side of the L-shaped integrated mounting support (1); the liquid damper (10) is used to realize the passive vibration suppression function of the actuator.

4. The highly integrated actuator oriented toward vibration suppression according to claim 3, characterized in that: The built-in linear bearing (12) of the output shaft (16) of the linear voice coil motor (2) and the first linear slide rail adapter bracket (3) jointly play a supporting and guiding role, thereby preventing the driving coil (15) of the linear voice coil motor (2) from contacting and colliding with the outer magnetic conductor (13) and the inner magnetic conductor (14).

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