CN102230563B - A light-weight three-axis inertial stabilized platform azimuth support structure - Google Patents

Abstract

A light-weight three-axis inertial stable platform azimuth support structure, including azimuth frame, compression outer ring, pitch frame, fastening screws, clearance adjustment washers, inner steel wire raceway, outer steel wire raceway, cage and rolling elements ; The support structure connects the pitch frame and the azimuth frame of the inertial stabilization platform, bears the weight of the load and rotates around the Z axis; the azimuth frame is the rotor base of the support structure; the outer ring and the pitch frame together form the stator base of the support structure, and the compression The outer ring is the upper frame of the stator base, the pitch frame is the lower frame of the stator base, and the fastening screws uniformly distributed in the circumferential direction connect the upper frame and the lower frame as a whole through clearance adjustment washers. The invention has the characteristics of flexible rotation, high precision, small size, light weight and compact structure, realizes the compatible integration of azimuth support and platform system, and is suitable for inertial stability and photoelectric servo platform systems such as aerial remote sensing and target tracking.

Description

A light-weight three-axis inertial stabilized platform azimuth support structure

technical field

The invention belongs to the technical field of aviation remote sensing, and relates to a light-weight three-axis inertial stabilization platform azimuth support structure, which is suitable for azimuth support of an aviation remote sensing three-axis inertial stabilization platform system with a large load and a small self-weight, and can also be used for vehicle-mounted , shipboard, radar and target surveillance and other servo tracking and stabilization platform systems.

Background technique

The aerial remote sensing three-axis inertial stabilization platform is one of the key equipment for airborne earth observation. Its function is to support the imaging load and isolate the attitude angle movement and external disturbance of the flight carrier in three directions, so that the visual axis of the imaging load can always track in the inertial space. And perpendicular to the local level, improving imaging resolution. However, due to the limitation of the aviation application environment, the structure of the inertial stabilization platform needs to have the characteristics of small size, light weight and large load-carrying ratio at the same time. Therefore, the design needs to be optimized for compactness under the premise of satisfying dynamic and static performance. The azimuth support is a key component of the inertial stabilized platform, which determines the overall performance of the stabilized platform, including accuracy, carrying capacity, volume, weight, power consumption, etc.

The role of the azimuth support in the inertial stabilization platform mainly includes the following three aspects: (1) bear the weight of the imaging load; (2) transitionally connect the azimuth frame and the pitch frame; (3) carry the imaging load and rotate around the Z axis. In the design of aviation inertial stabilized platforms, the existing azimuth support methods generally adopt the form of ordinary radial rolling bearings, such as various hanger-type inertial stabilized platforms. The integral azimuth support has the advantages of high precision and flexible rotation of the radial rolling bearing, but has the disadvantages of large mass, large volume, and difficult installation; in addition, the azimuth support of the German AeroStab-2 lightweight inertial stabilization platform adopts a three-point contact type The roller support method significantly reduces the weight and volume, and is easy to install, but it has the disadvantages of low bearing capacity, poor rigidity, and low rotation accuracy.

Contents of the invention

The technical solution of the present invention is to overcome the deficiencies of the prior art and propose a lightweight three-axis inertial stabilization platform azimuth support structure with flexible rotation, high precision, small volume, light weight, strong bearing capacity and easy installation.

The technical solution of the present invention is: a light-weight three-axis inertial stabilization platform azimuth support structure includes an azimuth frame, a compression outer ring, a pitch frame, fastening screws, clearance adjustment washers, two inner steel wire raceways, two The root outer steel wire raceway, cage, and rolling body; the azimuth frame is the rotor base of the supporting structure, and the two inner steel wire raceways are placed in the structure of the azimuth frame; the compression outer ring and the pitch frame together form the stator base of the supporting structure , wherein the compression outer ring is the upper frame of the stator base, the pitch frame is the lower frame of the stator base, the fastening screws uniformly distributed in the circumferential direction connect the upper frame and the lower frame through the clearance adjustment washer, and the two outer steel wires roll The tracks are respectively placed in the structure of the compression outer ring and the pitching frame; the horizontal centerline and Z-direction central axis of the cage coincide with the horizontal centerline of the rolling element and the rotation center axis respectively, and the Z-direction end surface of the cage is evenly distributed on the circumference Pockets with the same number of rolling elements separate the circumference of the rolling elements evenly; the rolling elements bear the weight of the imaging load through direct contact with the two inner steel wire raceways and the two outer steel wire raceways, and carry the imaging load to rotate around the Z axis ;A clearance adjusting washer separates the compression outer ring from the pitching frame. During assembly, the height of the clearance adjusting washer can be ground as required, so that the supporting structure has a certain amount of clearance or preload.

The longitudinal section of the raceway part of the azimuth support structure is a square. In the square section, two inner steel wire raceways and two outer steel wire raceways form two diagonal lines and are 90° orthogonal. The intersection point is the center of the rolling body; In the square section, the rolling body has two contact points and the two inner steel wire raceways, and the rolling body has two contact point sums with the two outer steel wire raceways; the two inner steel wire raceways, the two outer steel wire raceways, The cage and rolling elements form a four-point contact ball bearing, which can bear radial and axial loads and overturning moments at the same time.

A horizontal groove with a rectangular cross-sectional shape is opened in the middle of the outer side of the azimuth frame, and a mounting groove for the retainer is opened in the center of the bottom of the horizontal groove. The two inner steel wire raceways are embedded in the two corners of the bottom of the horizontal groove and are pressed by the rolling body; two outer steel wires The raceways are respectively embedded in the corners of the stepped grooves of the pressing outer ring and the corners of the stepped grooves of the pitch frame, and are pressed by the rolling elements.

The surface of the contact between the outer diameter of the two inner steel wire raceways and the rolling body is ground and processed with a full circle of circular arc grooves. The inner diameter of the raceway and the contact surface of the rolling body are also ground and processed with a full circle of arc grooves. The radius of curvature of the cross section of the arc groove is larger than the radius of the rolling body, which is the outer turning raceway of the rolling body. The rolling elements are high-precision ceramic balls or carbon steel balls.

The azimuth frame, the compression outer ring and the outer edge of the pitch frame are designed with a tooth mouth structure in the Z direction. During installation, the bosses and grooves of the tooth mouth structure on the azimuth frame and the bosses and grooves of the tooth mouth structure of the compression outer ring are interlaced to form a Non-contact labyrinth seal; similarly, the bosses and grooves of the mouth structure under the azimuth frame and the bosses and grooves of the mouth structure of the pitch frame are inserted alternately to form a non-contact labyrinth seal.

The cage is made of nylon material, placed horizontally, and the end face is uniformly distributed with pockets equal to the number of rolling elements along the Z-direction circumference; the pockets are divided into two types, the cross-sections are all 40 degrees conical angle, but the angle direction is opposite; the two pockets each Accounting for half of the total number of pockets, the circumference is staggered; half of the number of steel balls contacts the slope of one of the two pockets to position the retainer and drive it to rotate; the retainer is provided with an opening for installation.

There are four pieces of clearance adjustment washers in a 90° ring structure, with fastening screw holes evenly distributed in the middle; the four clearance adjustment washers are in overall contact with the compression outer ring and the circumference of the pitch frame.

The principle of the present invention is: a light-weight three-axis inertial stabilization platform azimuth support structure of the present invention includes an azimuth frame, a compression outer ring, a pitch frame, fastening screws, clearance adjustment washers, two inner steel wire raceways, two The root outer steel wire raceway, cage, and rolling body; the azimuth frame is the rotor base of the supporting structure, and the two inner steel wire raceways are placed in the structure of the azimuth frame; the compression outer ring and the pitch frame together form the stator base of the supporting structure , wherein the compression outer ring is the upper frame of the stator base, the pitch frame is the lower frame of the stator base, the fastening screws uniformly distributed in the circumferential direction connect the upper frame and the lower frame through the clearance adjustment washer, and the two outer steel wires roll The tracks are respectively placed in the structure of the compression outer ring and the pitching frame; the horizontal centerline and Z-direction central axis of the cage coincide with the horizontal centerline of the rolling element and the rotation center axis respectively, and the Z-direction end surface of the cage is evenly distributed on the circumference Pockets with the same number of rolling elements separate the circumference of the rolling elements evenly; the rolling elements bear the weight of the imaging load through direct contact with the two inner steel wire raceways and the two outer steel wire raceways, and carry the imaging load to rotate around the Z axis ;A clearance adjusting washer separates the compression outer ring from the pitching frame. During assembly, the height of the clearance adjusting washer can be ground as required, so that the supporting structure has a certain amount of clearance or preload.

The advantage of the present invention compared with prior art is:

(1) Grooving is adopted in the frame structure, and the steel wire is embedded in the frame groove as a raceway. Compared with the integral radial rolling bearing scheme, it has the smallest volume and lightest weight;

(2) The steel wire raceway is partially ground and the steel balls are evenly distributed on the circumference, so the rotation is flexible and the precision is high, and the bearing capacity is larger than that of the integral radial rolling bearing in the same design space;

(3) The clearance adjustment washer is designed as an integral contact piece structure. Compared with the number of local contact washers or three-point contact roller support methods with the same number of fastening screws, the present invention has greater anti-deformation ability and makes the bearing The carrying capacity and rotation accuracy are significantly enhanced;

(4) Use fastening screws to uniformly connect the compression outer ring and the pitch frame as the stator base, and the azimuth frame itself directly serves as the rotor base. Compared with other solutions, it is very easy to disassemble and install.

Description of drawings

Fig. 1 is the partial enlarged view of raceway part of the present invention and the regulation of coordinate system direction;

Fig. 2 is the assembly drawing that the present invention is applied in a kind of lightweight three-axis inertial stabilization platform;

Fig. 3 is a schematic diagram of a four-point contact ball bearing with a raceway section of the present invention, and a schematic diagram of two inner steel wire raceways and two outer steel wire raceway grinding arc grooves;

Fig. 4 is the structure characteristic of azimuth frame of the present invention;

Fig. 5 shows the structural features of the integrated stator base composed of the compression outer ring and the pitch frame of the present invention;

Fig. 6 is a partial enlarged view of the non-contact labyrinth seal composed of the azimuth frame and the compression outer ring of the present invention;

Fig. 7 is a partially enlarged view of a non-contact labyrinth seal composed of an azimuth frame and a pitch frame of the present invention;

Fig. 8 is a schematic structural view of the retainer of the present invention, Fig. 8a is a schematic diagram of the circumferential distribution of pockets and opening positions, and Fig. 8b is a partially enlarged view of the structural features of the pockets;

Fig. 9 is a schematic structural view of the clearance adjusting washer of the present invention.

Detailed ways

As shown in Figure 1, the azimuth support structure of a light-weight three-axis inertial stabilized platform of the present invention includes an azimuth frame 1, a compression outer ring 2, a pitch frame 3, a fastening screw 4, a clearance adjustment washer 5, two inner Steel wire raceway 6, two outer steel wire raceways 7, retainer 8, and rolling elements 9; two inner steel wire raceways 6 are placed in the structure of the azimuth frame 1, and two outer steel wire raceways 7 are respectively placed in the compression In the structure of the outer ring 2 and the pitch frame 3; the horizontal centerline and the Z-direction central axis of the cage 8 coincide with the horizontal centerline and the rotation center axis of the rolling element 9 respectively, and the Z-direction end surface of the cage 8 is evenly distributed on the circumference Rolling elements 9 have equal pockets to evenly separate the circumference of rolling elements 9; rolling elements 9 bear the weight of the imaging load and carry the imaging load through direct contact with the two inner steel wire raceways 6 and the two outer steel wire raceways 7. The load rotates around the Z axis; the clearance adjustment washer 5 separates the compression outer ring 2 from the pitch frame 3, and the height of the clearance adjustment washer 5 can be ground according to the need during assembly, so that the support structure has a certain clearance or preload quantity.

As shown in Figure 2, the azimuth frame 1 is the rotor base of the supporting structure, the compression outer ring 2 and the pitch frame 3 together form the stator base of the support structure, wherein the compression outer ring 2 is the upper frame of the stator base, and the pitch frame 3 is On the lower frame of the stator base body, fastening screws 4 uniformly distributed in the circumferential direction connect the upper frame and the lower frame as a whole through clearance adjustment washers 5 .

As shown in Figure 3, the longitudinal section of the raceway part of the azimuth support structure of the present invention is a square, and in the square section, two inner steel wire raceways 6 and two outer steel wire raceways 7 form two diagonal lines 10 and 11, forming 90 °orthogonal, the intersection point is the center of the rolling body 9; in the square section, the rolling body 9 has two contact points 12 and 13 with the two inner steel wire raceways 6, and the rolling body 9 and the two outer steel wire raceways 7 have two contact points. Two contact points 14 and 15; two inner steel wire raceways 6, two outer steel wire raceways 7, cage 8 and rolling elements 9 form a four-point contact ball bearing form, which can bear radial, axial load and overturning at the same time moment.

Wherein two inner steel wire raceway 6 outer diameters and rolling body 9 contact surface grinding process circle arc groove 601, and arc groove 601 cross-sectional curvature radius is greater than the radius of rolling body 9, is the inner turning roller of rolling body 9. At the same time, the surface of the contact between the inner diameter of the two outer steel wire raceways 7 and the rolling body 9 is also ground and processed with a full circle of arc grooves 701. Outer slewing raceway. The rolling element 9 adopts high-precision ceramic balls or carbon steel balls.

As shown in Figure 4, a horizontal groove 103 with a rectangular cross-sectional shape is provided in the middle of the outer side of the orientation frame 1 of the present invention, and a mounting groove 104 for the retainer 8 is provided in the center of the bottom of the horizontal groove 103, so that the inner diameter of the retainer 8 does not interfere with the orientation frame 1; The two inner steel wire raceways 6 are embedded in the two corners 105 and 106 at the bottom of the horizontal groove 103, and are pressed by the rolling elements 9;

As shown in Figure 5, the fastening screws 4 evenly distributed in the circumferential direction connect the compression outer ring 2 and the pitch frame 3 through the clearance adjustment washer 5 to form the stator base of the supporting structure together, and the compression outer ring 2 and the pitch frame The frame 3 is the upper frame and the lower frame of the stator base respectively; the two outer steel wire raceways 7 are respectively embedded in the corner 204 of the stepped groove 203 of the compression outer ring 2 and the corner 304 of the stepped groove 303 of the pitch frame 3, and are rolled Body 9 is compressed to bear the load.

As shown in Fig. 6 and Fig. 7, the Z-direction of the outer edge of the azimuth frame 1, the compression outer ring 2 and the pitch frame 3 of the present invention is designed with a mouth structure, and the boss 101 and the groove 102 of the mouth structure on the azimuth frame 1 are installed The bosses 201 and grooves 202 that press the outer ring 2 teeth structure are inserted alternately to form a non-contact labyrinth seal; similarly, the bosses 101 and grooves 102 of the teeth structure under the azimuth frame 1 and the pitch frame 3 teeth structure The bosses 301 and the grooves 302 are inserted alternately to form a non-contact labyrinth seal; when the support structure rotates, the above two non-contact labyrinth seals will not generate frictional moment, and will move the inside of the raceway in the 360°circumferential direction. Completely sealed and protected to prevent dust and grease from falling off, to ensure a good operating environment for the supporting structure and to prolong its life.

As shown in Figure 8a, the retainer 8 of the present invention is made of nylon material, placed horizontally, and the end face is uniformly distributed along the Z-direction circumference with pockets 801 and 802 equal to the number of rolling elements; Half of the circle is distributed in a staggered manner; the cross sections of the pockets 801 and 802 both have a conical angle of 40 degrees, and the directions of the angles are opposite.

As shown in Figure 8b, half of the rolling elements 9 push up the retainer 8 by contacting the cone slope inside the pocket 801 from bottom to top; while the other half of the rolling elements 9 pass through the inside of the pocket 802 The cone contacts obliquely from top to bottom to press the retainer 8; the rolling body 9 positions the retainer 8 in the three directions of X, Y and Z through the pocket holes 801 and 802 and drives it to rotate; the retainer 8 is provided with an opening 803 for installation. During installation, the diameter of the retainer 8 is enlarged from the opening 803 by using the elasticity of the nylon material, so that the retainer 8 can be horizontally placed in the horizontal groove 103 in the middle of the outer side of the azimuth frame 1 for assembly.

As shown in Figure 9, the clearance adjustment washers 5 of the present invention are four pieces in one form, which are 90° circular ring structure, and fastening screw holes 501 are evenly distributed in the middle; the four clearance adjustment washers 5 are connected with the compression outer ring 2 and the pitch frame 3 circle overall contact.

Claims (7)

1. A light-weight three-axis inertial stabilized platform azimuth support structure, characterized in that it includes an azimuth frame (1), a compression outer ring (2), a pitch frame (3), a fastening screw (4), and a clearance Adjusting washer (5), two inner steel wire raceways (6), two outer steel wire raceways (7), cage (8), rolling elements (9); the orientation frame (1) is the rotor base of the supporting structure, The two inner steel wire raceways (6) are placed in the structure of the azimuth frame (1); the compression outer ring (2) and the pitch frame (3) together form the stator base of the supporting structure, in which the compression outer ring (2) is the upper frame of the stator base, the pitch frame (3) is the lower frame of the stator base, and the fastening screws (4) uniformly distributed in the circumferential direction connect the upper frame and the lower frame as a whole through the clearance adjustment washer (5). The outer steel wire raceway (7) is respectively placed in the structure of the compression outer ring (2) and the pitch frame (3); the horizontal centerline and Z-direction central axis of the cage (8) are respectively connected with the rolling body (9) The horizontal center line coincides with the rotation center axis, the cage (8) is made of nylon material, placed horizontally, and the end face is evenly distributed along the Z direction with pocket holes (801, 802) equal to the number of rolling elements, and the rolling elements (9) are evenly distributed around the circumference. Separation; the pockets (801) and pockets (802) each account for half of the total number of pockets, and the circumference is staggered; the sections of the pockets (801) and the pockets (802) are both 40 degrees conical angle, and the angle direction is opposite; half A number of rolling elements (9) lift up the retainer (8) by contacting the inner cone slope of the pocket (801) from bottom to top; while the other half of the rolling elements (9) pass through the pocket (801) 802) The inner cone contacts obliquely from top to bottom to press the cage (8); the rolling element (9) moves the cage (8) through the pockets (801) and (802) in X, Y and Positioning in three directions and driving it to rotate; the retainer (8) is provided with an opening (803) for installation, and the diameter of the retainer (8) is enlarged from the opening (803) by using the elasticity of nylon material during installation, so that The cage (8) can be horizontally put into the horizontal groove (103) in the middle of the outer side of the azimuth frame (1) for assembly; 7) is in direct contact with the imaging load, and carries the imaging load to rotate around the Z axis; the clearance adjustment washer (5) separates the compression outer ring (2) from the pitch frame (3), and can be ground as required during assembly. Cut the clearance to adjust the height of the washer (5), so that the support structure has a certain clearance or preload. 2. A light-weight three-axis inertial stable platform azimuth support structure according to claim 1, characterized in that: the longitudinal section of the raceway part of the azimuth support structure is a square, and in the square section, two inner steel wires roll Road (6) and two outer steel wire raceways (7) form two diagonal lines (10, 11), which are 90° orthogonal, and the intersection point is the center of the rolling element (9); in the square section, the rolling element ( 9) There are two contact points (12, 13) with the two inner steel wire raceways (6), and two contact points (14, 15) with the two outer steel wire raceways (7) for the rolling element (9); The root inner steel wire raceway (6), two outer steel wire raceways (7), the cage (8) and the rolling element (9) form a four-point contact ball bearing, which can bear radial and axial loads and overturning at the same time moment. 3. A light-weight three-axis inertial stabilization platform azimuth support structure according to claim 1, characterized in that: a horizontal groove (103) with a rectangular cross-sectional shape is provided in the middle of the outer side of the azimuth frame (1), and the horizontal groove (103 ) in the center of the bottom of the retainer (8) is provided with a mounting groove (104), and two inner steel wire raceways (6) are embedded in the two corners (105, 106) at the bottom of the horizontal groove (103), and are pressed by the rolling elements (9) ; The two outer steel wire raceways (7) are respectively embedded in the corner (204) of the stepped groove (203) of the compression outer ring (2) and the corner (304) of the stepped groove (303) of the pitch frame (3), and Pressed by the rolling elements (9). 4. A light-weight three-axis inertial stabilization platform azimuth support structure according to claim 1, characterized in that: the outer diameter of the two inner steel wire raceways (6) contacts the surface of the rolling body (9) Grinding and processing the whole circular arc groove (601), the radius of curvature of the cross section of the arc groove (601) is greater than the radius of the rolling element (9), which is the inner turning raceway of the rolling element (9); at the same time, the two outer steel wires roll The surface of the contact between the inner diameter of the road (7) and the rolling body (9) is also ground and processed with a full circle of arc grooves (701). 9) The outer rotary raceway. 5. A light-weight three-axis inertial stabilization platform azimuth support structure according to claim 1, characterized in that: the azimuth frame (1), the compression outer ring (2) and the outer pitch frame (3) The edge Z direction is designed with a mouth structure. When installing, the boss (101) and groove (102) of the mouth structure on the azimuth frame (1) and the boss (201) and groove (201) and the groove ( 202) interlaced with each other to form a non-contact labyrinth seal; similarly, the boss (101) and groove (102) of the mouth structure under the azimuth frame (1) and the boss (301) of the mouth structure of the pitch frame (3) and the grooves (302) are inserted alternately to form a non-contact labyrinth seal. 6. A light-weight three-axis inertial stabilization platform azimuth support structure according to claim 1, characterized in that: the rolling elements (9) are made of high-precision ceramic balls or carbon steel balls. 7. A light-weight three-axis inertial stabilization platform azimuth support structure according to claim 1, characterized in that: the clearance adjustment washers (5) are four pieces in one type, which are 90° ring structures, and the middle is uniform. Cloth fastening screw holes (501); four clearance adjustment washers (5) are in overall contact with the compression outer ring (2) and pitch frame (3) circumference.

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