Spatial positioning pointing mechanism

Abstract

The utility model discloses a spatial positioning and pointing mechanism. The mechanism comprises a structure supporting piece, a stepping motor, a harmonic reducer, a Hall angular displacement sensing device and a controller, wherein the structure supporting piece comprises a bearing seat and an output shaft; the stepping motor is used for driving a rotor of the stepping motor to rotate according to the pulse signal; a flexible gear of the harmonic reducer is connected with the output shaft, and a rigid gear is connected with the bearing seat; the wave generator is connected with a rotor of the stepping motor; the Hall effect sensor is installed at the fixed end of the output shaft, and the magnetic steel is installed at the rotating end of the output shaft. The controller is used for receiving the output voltage of the Hall angular displacement sensing device and calculating the position of the spatial positioning pointing mechanism according to the angular displacement and the angular velocity. The mechanism adopts the Hall effect sensor, so that the structure is more compact, the weight and the size are obviously reduced, and the assembly difficulty is reduced; the harmonic reducer is adopted to improve the angular displacement resolution, the output torque is larger, and the application range is wider.

Description

Technical Field

[0001] This utility model relates to the field of precision instruments, and in particular to a spatial positioning and pointing mechanism. Background Technology

[0002] Space positioning and pointing mechanisms are used to achieve precise pointing of onboard microwave and optical payloads. Utilizing precision drive and transmission structures, as well as position sensors, they enable real-time tracking and pointing to the required location. With the rapid development of the commercial aerospace sector, low cost, mass production, and high reliability have become the main requirements for product development.

[0003] Currently, there are several main solutions for achieving spatial positioning and pointing:

[0004] (1) Continuous angle measurement system such as rotary transformer, potentiometer or photoelectric encoder. Using rotary transformer, potentiometer or photoelectric encoder can provide real-time feedback of angular displacement for position closed loop, which is more intuitive and realistic. Among them, potentiometer uses the principle of resistance voltage division, so the accuracy is relatively low; the accuracy of rotary transformer and photoelectric encoder is affected by the product size, making it difficult to achieve miniaturization and compactness. At the same time, they occupy more control resources, have more lead wires, and require additional circuits for data acquisition and processing;

[0005] (2) Fixed-point angle measurement systems such as photoelectric switches and common Hall effect sensors. Photoelectric switches and common Hall effect sensors can usually generate signal changes at a fixed position to provide feedback on a specific position. Photoelectric switches have a light source, which makes them larger than Hall effect sensors, and they are more likely to be damaged after long-term use. Common Hall effect sensors have poor temperature adaptability and are mostly used to record the number of rotations or as electrical limit switches for rough angle detection.

[0006] (3) Planetary gear reducer transmission scheme. The planetary gear reducer transmission has a small reduction ratio, which has a limited effect on improving the resolution of the open-loop control of the stepper motor. In addition, in order to ensure long-term working life and low starting torque, the planetary gears cannot minimize backlash to the greatest extent, resulting in a significant decrease in positioning accuracy under a certain load. Utility Model Content

[0007] This utility model aims to at least solve the technical problems existing in the prior art. To this end, the first aspect of this utility model proposes a spatial positioning and pointing mechanism, the mechanism comprising a structural support member, a stepper motor, a harmonic reducer, a Hall angular displacement sensor, and a controller; wherein...

[0008] The structural support components are used to provide an installation reference, including bearing housings and output shafts;

[0009] The stepper motor is used to receive pulse signals sent by the controller and drive the rotor of the stepper motor to rotate according to the pulse signals;

[0010] The flexible wheel of the harmonic reducer is connected to the output shaft, and the rigid wheel of the harmonic reducer is connected to the bearing housing; the wave generator of the harmonic reducer is connected to the rotor drive of the stepper motor.

[0011] The Hall effect angular displacement sensing device includes a Hall effect sensor and a magnet. The Hall effect sensor is installed at the fixed end of the output shaft, and the magnet is installed at the rotating end of the output shaft. The Hall effect angular displacement sensing device is used to convert the change in the magnetic field at the rotating end into a change in the output voltage, and send the output voltage to the controller.

[0012] The controller is used to receive the output voltage, calculate the current angular position of the output shaft based on the change of the output voltage, calculate the relative angular displacement and angular velocity of the output shaft based on the pulse number of the stepper motor and the reduction ratio of the harmonic reducer, and calculate the position of the spatial positioning pointing mechanism based on the relative angular displacement and the angular velocity.

[0013] Optionally, the mechanism further includes a bearing assembly pre-tightly installed between the output shaft and the bearing housing.

[0014] Optionally, the bearing assembly includes two angular contact bearings and two bearing preload members, the two bearing preload members being preloaded to the output shaft and the bearing housing, respectively.

[0015] Optionally, the flexible wheel of the harmonic reducer is connected to the output shaft via a clearance fit between the shaft and the hole, and is also connected to the bearing housing via a clearance fit between the shaft and the hole, and is further connected via screws.

[0016] Optionally, the wave generator of the harmonic reducer and the rotor of the stepper motor are fitted with a shaft-hole clearance and driven by a standard key and keyway.

[0017] Optionally, the angular contact bearing and the flexible bearing of the harmonic reducer are lubricated with solid lubricant, and the flexible wheel and rigid wheel of the harmonic reducer, and the flexible wheel and wave generator are lubricated with space grease.

[0018] Optionally, the Hall angular displacement sensing device further includes a capacitor element used for filtering.

[0019] Optionally, the number of Hall effect sensors is at least two, and the Hall effect sensors are integrally mounted on the structural support.

[0020] Optionally, the controller correlates the number of pulses of the stepper motor with the output voltage of the acquired Hall effect sensor, and converts the number of pulses into the corresponding angular displacement value of the stepper motor pulses.

[0021] Optionally, the rated load of the harmonic reducer is more than 50% greater than the actual application load.

[0022] The present invention has the following beneficial effects:

[0023] This utility model provides a spatial positioning and pointing mechanism, which includes a structural support, a stepper motor, a harmonic reducer, a Hall effect angular displacement sensor, and a controller. The structural support, including a bearing housing and an output shaft, provides an installation reference. The stepper motor receives pulse signals from the controller and drives its rotor to rotate according to these signals. The flexible wheel of the harmonic reducer is connected to the output shaft, and the rigid wheel is connected to the bearing housing. The wave generator of the harmonic reducer is connected to the rotor of the stepper motor. The Hall effect angular displacement sensor includes a Hall effect sensor... The system comprises a Hall effect sensor and a magnet. The Hall effect sensor is mounted on the fixed end of the output shaft, and the magnet is mounted on the rotating end of the output shaft. The Hall angular displacement sensor converts the change in the magnetic field at the rotating end into a change in the output voltage and sends the output voltage to the controller. The controller receives the output voltage, calculates the current angular position of the output shaft based on the change in the output voltage, calculates the relative angular displacement and angular velocity of the output shaft based on the pulse count of the stepper motor and the reduction ratio of the harmonic reducer, and calculates the position of the spatial positioning and pointing mechanism based on the angular displacement and angular velocity. This spatial positioning and pointing mechanism uses a Hall effect sensor, resulting in a more compact structure, significantly reduced weight and size, minimal system resource consumption, and greatly reduced assembly difficulty. The use of a high-reduction-ratio harmonic reducer improves the angular displacement resolution based on the open-loop control of the stepper motor, resulting in greater output torque, smaller hysteresis, and a wider range of applications. Attached Figure Description

[0024] Figure 1 One of the mechanical structure diagrams of a spatial positioning and pointing mechanism provided in this utility model embodiment;

[0025] Figure 2 A second mechanical structure diagram of a spatial positioning and pointing mechanism provided for an embodiment of this utility model;

[0026] Figure 3 The third mechanical structure diagram of a spatial positioning and pointing mechanism provided for an embodiment of this utility model;

[0027] Figure 4A mechanical structure diagram of a bearing assembly provided for an embodiment of this utility model;

[0028] Figure 5 An assembly drawing showing the connection between the flexspline and the output shaft provided in an embodiment of this utility model;

[0029] Figure 6 An assembly drawing showing the connection between the rigid wheel and the bearing housing provided in an embodiment of this utility model;

[0030] Figure 7 An assembly diagram of a wave generator and a stepper motor provided for an embodiment of this utility model. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0033] Figure 1 One of the mechanical structure diagrams of a spatial positioning and pointing mechanism provided in this utility model embodiment;

[0034] Figure 2 A second mechanical structure diagram of a spatial positioning and pointing mechanism provided for an embodiment of this utility model;

[0035] Figure 3 The third mechanical structure diagram of a spatial positioning and pointing mechanism provided for an embodiment of this utility model.

[0036] in, Figure 1 It is a complete assembly drawing of the spatial positioning and pointing mechanism. Figure 2 This is a structural diagram after the bearing housing has been removed. Figure 3 This is a structural diagram after removing the Hall effect sensor and mounting flange.

[0037] like Figure 1 , Figure 2 , Figure 3 As shown, the spatial positioning and pointing mechanism includes: a structural support component consisting of a bearing housing 11 and an output shaft 12; a stepper motor 2; a harmonic reducer consisting of a flexible wheel 31, a rigid wheel 32, and a wave generator 33; a Hall effect angular displacement sensing device and a controller (not shown in the figure) consisting of a Hall effect sensor 41, a Hall effect sensor 42, and a magnet 43; wherein,

[0038] The structural support components are used to provide an installation reference, including bearing housing 11 and output shaft 12;

[0039] The stepper motor 2 is used to receive pulse signals sent by the controller and drive the rotor of the stepper motor 2 to rotate according to the pulse signals;

[0040] The flexible wheel 31 of the harmonic reducer is connected to the output shaft 12, and the rigid wheel 3232 of the harmonic reducer is connected to the bearing seat 11; the wave generator 33 of the harmonic reducer is connected to the rotor drive of the stepper motor 2.

[0041] The Hall effect angular displacement sensing device 4 includes a Hall effect sensor 41, a Hall effect sensor 42, and a magnet 43. The Hall effect sensor 41 is installed at the fixed end of the output shaft 12, and the magnet 43 is installed at the rotating end of the output shaft 12. The Hall effect angular displacement sensing device is used to convert the change in the magnetic field at the rotating end into a change in the output voltage, and send the output voltage to the controller.

[0042] The controller is used to receive the output voltage, calculate the angular displacement and angular velocity of the stepper motor 2 based on the change of the output voltage, and calculate the position of the spatial positioning pointing mechanism based on the angular displacement and the angular velocity.

[0043] Specifically, the structural support components include bearing housing 11, output shaft 12, etc., which provide an installation reference for transmission and drive components and undertake the function of external connection.

[0044] Stepper motor 2 is driven by digital pulse signals sent by the controller. With each pulse received, the motor rotor rotates precisely by a certain angle according to the step angle; that is, each pulse corresponds to a fixed angular step distance for stepper motor 2. The pulse frequency determines the motor speed; the higher the frequency, the faster the speed. The number of pulses determines the total rotation angle: number of pulses × step angle = total angle.

[0045] The harmonic reducer consists of three parts: a flexspline 31, a circular spline 32, and a wave generator 33. The flexspline 31 is connected to the output shaft 12, serving as the output end of the reducer and transmitting the reduced rotational motion to the spatial pointing mechanism. The circular spline 32 is fixed to the bearing housing 11, providing a reaction force to form the reduction transmission. The wave generator 33 is connected to the rotor of the stepper motor 2, serving as the input end, converting the high-speed rotation of the stepper motor 2 into the elastic deformation motion of the flexspline 31.

[0046] This mechanism uses a high-reduction-ratio harmonic reducer to improve the angular displacement resolution based on the open-loop control of the stepper motor 2, and increases the output torque. Compared with open-loop reducers such as planetary gear reducers, it has higher positioning accuracy, greater output torque, smaller hysteresis, and a wider range of applications.

[0047] A Hall effect sensor 41 is fixed to the fixed end of the output shaft 12, detects changes in the magnetic field, and outputs a voltage signal corresponding to the angle. A magnet 43 is mounted on the rotating end of the output shaft 12, rotates with the shaft, and provides a constant magnetic field. When rotating, the direction of the magnetic field changes relative to the Hall sensor, generating a measurable signal change.

[0048] Since the accuracy of Hall effect devices is related to their mounting position (rotation radius), this mechanism utilizes the symmetrical distribution of the signal generated by the Hall effect on the rotating axis to adjust the parallelism of the Hall component installation. This eliminates the influence of temperature variations in the Hall effect coefficient on positioning performance, achieving high positioning accuracy in the range of several arc minutes over a wide temperature range of -30℃ to +60℃. Compared to commonly used rotary transformers, potentiometers, and photoelectric encoders, using a Hall effect sensor 41 results in a more compact structure, significantly reduced weight and size, and requires only three wires for operation, minimizing system resource consumption.

[0049] As the output shaft 12 rotates, the direction of the magnetic field of the magnet 43 changes continuously relative to the fixed Hall sensor. The Hall effect sensor 41 generates an analog voltage signal based on the change in the direction / intensity of the magnetic field. The output voltage of the Hall sensor is proportional to the angular position of the magnet 43. The voltage signal is sent to the controller via an analog-to-digital converter, and the controller converts it into an angle value using an algorithm. The controller calculates the angular velocity in real time by monitoring the change in angle per unit time. Based on the correspondence between angle and displacement, the angular displacement is calculated.

[0050] The transmission components and drive components in this utility model, such as bearings, harmonic reducers, and stepper motors 2, are products from production lines that meet aerospace requirements. By analyzing the load and usage conditions, targeted selection is made, which improves the service life of the products. The use of Hall effect sensors 41 greatly reduces the assembly difficulty, making it a new type of space positioning and pointing mechanism.

[0051] In summary, the spatial positioning and pointing mechanism provided in this embodiment of the present invention includes a structural support, a stepper motor 2, a harmonic reducer, a Hall angular displacement sensor, and a controller. The structural support, which provides an installation reference, includes a bearing housing 11 and an output shaft 12. The stepper motor 2 receives pulse signals from the controller and drives its rotor to rotate according to these pulse signals. The flexible wheel 31 of the harmonic reducer is connected to the output shaft 12, and the rigid wheel 32 of the harmonic reducer is connected to the bearing housing 11. The wave generator 33 of the harmonic reducer is connected to the stepper motor 2. The rotor drive connection is as follows: The Hall angular displacement sensing device includes a Hall effect sensor 41 and a magnet 43. The Hall effect sensor 41 is installed on the fixed end of the output shaft 12, and the magnet 43 is installed on the rotating end of the output shaft 12. The Hall angular displacement sensing device is used to convert the change in the magnetic field at the rotating end into a change in the output voltage, and sends the output voltage to the controller. The controller is used to receive the output voltage, calculate the angular displacement and angular velocity of the stepper motor 2 based on the change in the output voltage, and calculate the position of the spatial positioning and pointing mechanism based on the angular displacement and the angular velocity. This spatial positioning and pointing mechanism uses a Hall effect sensor 41, making the structure more compact, significantly reducing weight and size, occupying very few system resources, and greatly reducing assembly difficulty. The use of a large reduction ratio harmonic reducer improves the angular displacement resolution based on the open-loop control of the stepper motor 2, resulting in greater output torque, smaller hysteresis, and a wider range of applications.

[0052] As an optional embodiment, the mechanism further includes a bearing assembly pre-tightly installed between the output shaft 12 and the bearing housing 11.

[0053] As an optional embodiment, the bearing assembly 5 includes two angular contact bearings and two bearing preload members, the two bearing preload members being preloaded to the output shaft 12 and the bearing housing 11, respectively.

[0054] Figure 4 A mechanical structure diagram of a bearing assembly provided for an embodiment of this utility model.

[0055] like Figure 4 As shown, the bearing assembly includes an angular contact bearing group 51 consisting of two angular contact bearings, a first bearing preload member 52, and a second bearing preload member 53. The bearing preload member 1 is preloaded to the output shaft 12, and the bearing preload member 2 is preloaded to the bearing housing 11.

[0056] Bearing assemblies are critical components for ensuring output capacity and service life. Preload installation eliminates clearances between parts, reducing deformation under stress. Preload maintains compressive stress on parts under alternating loads, delaying crack initiation and propagation, and extending service life.

[0057] As an optional embodiment, the flexible wheel 31 of the harmonic reducer is connected to the output shaft 12 with a clearance fit between the shaft and the hole and a screw; the rigid wheel 32 of the harmonic reducer is connected to the bearing seat 11 with a clearance fit between the shaft and the hole and a screw.

[0058] Figure 5 An assembly drawing showing the connection between the flexspline and the output shaft provided in an embodiment of this utility model;

[0059] Figure 6 An assembly diagram showing the connection between the rigid wheel and the bearing housing provided in an embodiment of this utility model.

[0060] like Figure 5 As shown, the flexure 31 of the harmonic reducer and the output shaft 12 are fitted with a clearance fit and connected by screws. The installation requirements are met by controlling the dimensional and geometric tolerances of the parts. The inner diameter of the flexure 31 is slightly larger than the outer diameter of the output shaft 12, forming a small gap.

[0061] like Figure 6 As shown, the rigid wheel 32 of the harmonic reducer and the bearing housing 11 adopt a shaft hole clearance fit and are connected by screws. The installation requirements are met by controlling the dimensional tolerances and geometric tolerances of the parts.

[0062] The use of a shaft-hole clearance fit eliminates the need for forceful pressing during installation, reducing alignment difficulties. It avoids stress concentration caused by machining or assembly deviations, protecting the thin-walled structure of the flexible wheel 31; and allows the shaft and flexible wheel 31 to expand / contract freely with temperature changes, preventing thermal stress damage.

[0063] Based on the clearance fit, the flexible wheel 31 is axially fixed to the output shaft 12 by screws, and the rigid wheel 32 is axially fixed to the bearing seat 11 to ensure the reliability of torque transmission.

[0064] As an optional embodiment, the wave generator 33 of the harmonic reducer and the rotor of the stepper motor 2 are fitted with a shaft hole clearance and driven by a standard key and keyway.

[0065] Figure 7 An assembly diagram of a wave generator and a stepper motor provided for an embodiment of this utility model.

[0066] Specifically, the inner hole of the wave generator 33 is clearance-fitted with the shaft of the stepper motor 2, with the hole diameter slightly larger than the shaft diameter. Installation requirements are met by controlling the dimensional and geometric tolerances of the parts.

[0067] Standard keys include plain keys and woodruff keys, conforming to mechanical standards such as GB / T 1096. Specifically, the keys are embedded in the keyways of the motor shaft and the inner holes of the wave generator 33, transmitting torque through lateral compression. The key dimensions need to be selected based on torque calculations.

[0068] The use of standard keys and keyway transmission provides strong shear resistance and is more reliable than simple set screws, making it suitable for high-frequency start-stop or impact loads. Furthermore, precise positioning and keyway machining ensure circumferential phase alignment, preventing angular misalignment between the wave generator 33 and the motor rotor.

[0069] As an optional embodiment, the angular contact bearing and the harmonic reducer flexible bearing are lubricated with solid lubricant, and the flexible wheel 31 and rigid wheel 32 of the harmonic reducer, and the flexible wheel 31 and wave generator 33 are lubricated with space grease.

[0070] Solid lubrication refers to the use of solid lubricating materials, such as molybdenum disulfide, graphite, and polytetrafluoroethylene coatings, to replace traditional lubricating oils or greases. It is typically used to support high-precision, high-speed, or heavy-load shaft systems. Solid lubrication avoids grease evaporation or contamination, making it suitable for environments requiring vacuum, high temperatures, or long service life.

[0071] Flexible bearings are the core components of harmonic reducers. They need to withstand high-frequency elastic deformation. Solid lubrication can reduce friction and wear, while preventing the grease from being lost due to repeated deformation.

[0072] Space grease is a type of grease specifically designed for aerospace or high vacuum environments, such as perfluoropolyether (PFPE) and silicone grease, which features low volatility, high adhesion, and chemical stability.

[0073] The flexible gear 31 and the rigid gear 32 transmit motion through tooth meshing, and the grease can reduce tooth surface wear and reduce noise.

[0074] The wave generator 33 causes the flexible wheel 31 to undergo elastic deformation, and the grease can reduce the sliding friction of the contact surface.

[0075] As an optional embodiment, the Hall angular displacement sensing device further includes a capacitor element used for filtering.

[0076] The output signal of a Hall effect sensor may contain high-frequency noise and signal jitter. Capacitors exhibit low impedance to high-frequency signals and high impedance to low-frequency signals. By connecting a capacitor in parallel, high-frequency noise is bypassed to ground, retaining only the pure low-frequency angle signal, thus providing a filtering effect. In addition, the capacitor can absorb transient power supply fluctuations, ensuring a stable power supply for the Hall effect sensor 41.

[0077] As an optional embodiment, the number of Hall effect sensors is at least two, and the Hall effect sensors are integrally mounted on the structural support.

[0078] The number of Hall effect sensors should be at least two, which can be redundantly backed up to improve system reliability. If one sensor fails, the other can still work.

[0079] By analyzing the signals from Hall effect sensors in detail, interference such as temperature drift can be eliminated, thereby improving measurement accuracy.

[0080] The two Hall sensors are integrated into the same structural support, ensuring their relative positions are fixed. This reduces space requirements and makes them suitable for miniaturized designs.

[0081] As an optional embodiment, the controller combines the number of pulses of the stepper motor 2 to convert the output voltage of the Hall effect sensor 41 acquired each time from the large angular displacement range into the corresponding angular displacement value of the stepper motor 2 pulse.

[0082] Specifically, the controller collects the pulse count of stepper motor 2 (with a certain position as 0, forward rotation count as positive, and reverse rotation count as negative), and simultaneously collects the feedback signal of the Hall effect. When the Hall effect occurs (magnet 43 rotates to the trigger area of ​​the Hall device), the pulse count of stepper motor 2 is recorded; when the Hall effect disappears (magnet 43 rotates out of the trigger area of ​​the Hall device), the pulse count of stepper motor 2 is recorded again. The average of the two recorded pulse counts is used to obtain the characteristic pulse count of the Hall device. Since the installation position of the Hall device is fixed, this characteristic pulse count is set to a fixed angle (after collecting the signals before and after the Hall effect is triggered, the pulse count at the intermediate position is calculated, which is the aforementioned fixed angle; then the current position is calculated). By counting the pulses of stepper motor 2, the angle value within the entire working range can be obtained. The process of finding this fixed angle realizes the "zeroing function".

[0083] Experiments revealed that using the average number of pulses before and after Hall effect triggering as the feature position resulted in a significant change in angle before and after Hall effect triggering (the maximum angle change was measured to be more than 0.5°) after a significant change in operating temperature. However, the feature position was less affected by temperature (the angle change was only 1′ between -30℃ and +60℃). Therefore, after calibrating the feature position at room temperature, a high-precision angular position can be obtained over a wide temperature range.

[0084] This mechanism can achieve "zeroing function" at any angle within the working range. The control pointing mechanism can accurately return to the agreed "zero position" from any angle within a certain period of time. The position error is less than 1 arc minute at temperatures ranging from -30℃ to +60℃, and the zeroing completion time can be adjusted by controlling the rotation speed.

[0085] This device can realize the "tracking function", continuously sending the target position to the controller. After converting the current recorded pulse count into an angle, it converts the difference between the current angular displacement and the target angular displacement into a pulse count, and plans the stepper motor 2 to complete the difference in pulse count within a certain period of time, thereby continuously "tracking" to the target position.

[0086] As an optional embodiment, the rated load of the harmonic reducer is more than 50% greater than the actual application load.

[0087] Choose a harmonic reducer with a rated load capacity at least 50% greater than the actual application load. This allows the harmonic reducer to operate in a low-load range for extended periods, significantly reducing fatigue damage to gears and bearings and extending the reducer's lifespan.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A spatial positioning pointing mechanism, characterized by, The mechanism includes structural support components, a stepper motor, a harmonic reducer, a Hall effect angular displacement sensor, and a controller; wherein... The structural support components are used to provide an installation reference, including bearing housings and output shafts; The stepper motor is used to receive pulse signals sent by the controller and drive the rotor of the stepper motor to rotate according to the pulse signals; The flexible wheel of the harmonic reducer is connected to the output shaft, and the rigid wheel of the harmonic reducer is connected to the bearing housing; the wave generator of the harmonic reducer is connected to the rotor drive of the stepper motor. The Hall effect angular displacement sensing device includes a Hall effect sensor and a magnet. The Hall effect sensor is installed at the fixed end of the output shaft, and the magnet is installed at the rotating end of the output shaft. The Hall effect angular displacement sensing device is used to convert the change in the magnetic field at the rotating end into a change in the output voltage, and send the output voltage to the controller. The controller is used to receive the output voltage, calculate the current angular position of the output shaft based on the change of the output voltage, calculate the relative angular displacement and angular velocity of the output shaft based on the pulse number of the stepper motor and the reduction ratio of the harmonic reducer, and calculate the position of the spatial positioning pointing mechanism based on the relative angular displacement and the angular velocity.

2. The mechanism of claim 1, wherein, The mechanism also includes a bearing assembly that is pre-tightly installed between the output shaft and the bearing housing.

3. The mechanism of claim 2, wherein, The bearing assembly includes two angular contact bearings and two bearing preload members, which are respectively preloaded to the output shaft and the bearing housing.

4. The mechanism of claim 1, wherein, The flexible wheel of the harmonic reducer is connected to the output shaft via a clearance fit between the shaft and the hole, and is also connected to the bearing housing via a clearance fit between the shaft and the hole, and is also connected to the bearing housing via a screw.

5. The mechanism of claim 1, wherein, The wave generator of the harmonic reducer and the rotor of the stepper motor are fitted with a shaft-hole clearance and driven by a standard key and keyway.

6. The mechanism of claim 3, wherein, The angular contact bearing and the flexible bearing of the harmonic reducer are lubricated with solid lubricant, and the flexible wheel and rigid wheel of the harmonic reducer, as well as the flexible wheel and the wave generator, are lubricated with space grease.

7. The mechanism of claim 1, wherein, The Hall angular displacement sensing device also includes a capacitor element, which is used for filtering.

8. The mechanism of claim 1, wherein, The number of Hall effect sensors is at least two, and the Hall effect sensors are integrally mounted on the structural support.

9. The mechanism of claim 1, wherein, The controller correlates the number of pulses from the stepper motor with the output voltage of the Hall effect sensor, and converts the number of pulses into the corresponding angular displacement value of the stepper motor pulses.

10. The mechanism of claim 1, wherein, The rated load of the harmonic reducer is more than 50% greater than the actual application load.

Images