CN-121977139-A - Four-leg motion platform and system for spatial optical load vibration isolation and pointing integration

CN121977139ACN 121977139 ACN121977139 ACN 121977139ACN-121977139-A

Abstract

The invention discloses a four-leg motion platform and system for integrating spatial optical load vibration isolation and pointing, belonging to the technical field of spatial optical tracking, wherein the platform comprises an upper platform, a lower platform and four driving legs; the four driving support legs are symmetrically distributed at intervals of 90 degrees along the same circumference, the axis of each driving support leg forms an inclined angle with the central axis of the four-support leg moving platform, the upper platform and the lower platform are connected through the four driving support legs, the four driving support legs are identical in structure, the 1 st driving support leg is opposite to the 3 rd driving support leg and used for controlling pitching movement of the upper platform, the 2 nd driving support leg is opposite to the 4 th driving support leg and used for controlling yawing movement of the upper platform, and telescopic movement of the four driving support legs is controlled through controlling driving current of a voice coil motor in each driving support leg, so that gesture control of the upper platform is achieved. The invention can obviously reduce the system quality and optimize the space utilization rate of the spacecraft platform.

Inventors

TANG TAO
WANG YU
DING KE
HE DONG
WU YUN

Assignees

中国科学院光电技术研究所

Dates

Publication Date: 20260505
Application Date: 20260108

Claims (10)

1. The four-leg motion platform for integrating spatial optical load vibration isolation and pointing is characterized by comprising an upper platform, a lower platform, four driving legs and a limiting piece, wherein the four driving legs are symmetrically distributed along the same circumference at intervals of 90 degrees, and the axis of each driving leg forms an inclined angle with the central axis of the four-leg motion platform; The upper platform and the lower platform are connected through four driving support legs, the four driving support legs are identical in structure, the 1 st driving support leg is opposite to the 3 rd driving support leg in position to form a first group for controlling pitching motion of the upper platform, a limiting piece is coaxially arranged in the four support leg moving platform for integrating space optical load vibration isolation and direction and is connected with the lower platform, the 2 nd driving support leg is opposite to the 4 th driving support leg in position to form a second group for controlling yaw motion of the upper platform, and telescopic motion of the four driving support legs is controlled by controlling driving current of a voice coil motor in each driving support leg, so that gesture control of the upper platform is achieved.
2. The four-leg motion platform for integrating spatial optical load vibration isolation and pointing according to claim 1 is characterized in that the driving current of the 1 st driving leg and the driving current of the 3 rd driving leg are equal in amplitude and opposite in direction, the two legs are lengthened and shortened one by one, vibration isolation and pointing control of the pitching direction of the upper platform is achieved through a push-pull mode, the driving current of the 2 nd driving leg and the driving current of the 4 th driving leg are equal in amplitude and opposite in direction, the two legs are lengthened and shortened one by one, and vibration isolation and pointing control of the yaw direction of the upper platform is achieved through a push-pull mode.
3. The four-leg motion platform for spatial optical load vibration isolation and pointing integration of claim 1, wherein the four driving legs are identical in structure, each driving leg comprising a housing; the voice coil motor rotor and the voice coil motor stator are coaxially arranged in the shell and used as a power source of the driving support legs, wherein the voice coil motor stator is directly connected with a mounting surface in the shell, the voice coil motor rotor is connected with a connecting rod at the center and is arranged at a zero position of the voice coil motor, an upper spring diaphragm and a lower spring diaphragm are used for restraining the voice coil motor rotor to move axially along the driving support legs and provide elastic support, the upper spring diaphragm is arranged at the top end of the shell, the lower spring diaphragm is arranged at the bottom of the shell, a flexible hinge is arranged at the top end of the driving support legs, pitching and yawing angular movement is realized through expansion and contraction of the driving support legs, elastic deformation of the flexible hinge is used for providing rotational freedom, a displacement sensor is arranged in the shell of the driving support legs and used for measuring axial displacement of the driving support legs, a heat dissipation piece is coaxially arranged above the voice coil motor rotor and is provided with fins at the periphery, the connecting rod is used for dissipating heat of the voice coil motor rotor, the connecting rod is arranged at the center shaft in the inside the shell, the position of the voice coil motor rotor is connected with the top end of the top of the driving support legs through the connecting rod, the flexible hinge, the upper spring diaphragm and the lower spring diaphragm, the voice coil motor rotor, the motor stator and the limiting piece are connected together are arranged at the bottom of the connecting rod, the connecting rod is arranged at the top of the connecting rod, the connecting rod is used for limiting the voice coil motor rotor, the connecting rod, the top is used for limiting and the axial sensor is used for limiting the axial movement is used for limiting and the driving support is arranged in the top is realized through the top and the driving support is through the driving support, and the coil is used in the driving support, and the can is used in the driving and the, the driving support leg is used for connecting the driving support leg to the lower platform, and an acceleration sensor is arranged on the upper platform.
4. The four-leg motion platform for spatial optical load vibration isolation and pointing integration of claim 3, wherein the displacement sensor is a non-contact displacement sensor.
5. The four-leg motion platform for spatial optical load vibration isolation and pointing integration according to claim 4, wherein the displacement sensor is an absolute grating displacement sensor comprising a grating ruler reading head and a grating ruler plate, wherein the grating ruler plate is arranged in a shell of the driving leg and is connected with the voice coil motor through an intermediate connecting piece, and the grating ruler reading head is arranged on the shell of the driving leg.
6. The four-leg motion platform for spatial optical load vibration isolation and direction integration according to claim 3, wherein the upper and lower spring diaphragms are of a multi-layer surrounding pattern structure and are formed by multi-layer distributed circular rings, each circular ring comprises a plurality of groups of uniformly distributed circular groove patterns, and the upper and lower spring diaphragms are arranged at two ends of the voice coil motor rotor.
7. The four-leg motion platform for spatial optical load vibration isolation and pointing integration according to any one of claims 3 to 6, wherein the heat sink is of cylindrical structure and fins are provided at the periphery.
8. The four-leg motion platform for spatial optical load vibration isolation and direction integration according to any one of claims 3 to 6, wherein a suspension device is provided to unload the weight of the load and the upper platform, the suspension device comprises a spring, a flexible rope and a telescopic adjusting device, the suspension force is adjusted through the telescopic adjusting device to simulate a gravity-free test environment, the upper end of the spring is directly connected with a fixed point, one end of the flexible rope is connected with the lower end of the spring, the other end of the flexible rope is connected with the circumference of the upper platform in four 90-degree intervals, each connecting point corresponds to four driving legs one by one, the telescopic adjusting device is arranged in the middle of each flexible rope and used for adjusting the length of the flexible rope, the load is placed above the upper platform, and the load is directly connected with the upper platform through threads.
9. The four-leg motion platform for spatial optical load vibration isolation and pointing integration according to any one of claims 3 to 6, wherein the upper platform, the lower platform and the housing are all lightweight.
10. The four-leg motion system for integrating spatial optical load vibration isolation and pointing is characterized by comprising a control system composed of an upper computer or a controller, wherein the control system composed of the upper computer or the controller is connected with an acceleration sensor and a displacement sensor of the four-leg motion platform for integrating spatial optical load vibration isolation and pointing according to the angular vibration signals of pitching and yawing of the upper platform measured by the acceleration sensor, voice coil motors in the four driving legs are controlled to move, vibration active isolation is achieved, and the pose of the upper platform is controlled to accurately point according to the axial displacement of the four driving legs measured by the displacement sensor.

Description

Four-leg motion platform and system for spatial optical load vibration isolation and pointing integration Technical Field The invention belongs to the technical field of space optical tracking, and particularly relates to a four-leg motion platform and system for integrating space optical load vibration isolation and pointing. Background The pointing accuracy and stability requirements of spatial optical loads (high resolution cameras, spatial telescopes, etc.) are becoming increasingly stringent. During the on-orbit running of the spacecraft, the fly wheel, the refrigerator and other movable parts induce micro-vibration, and the micro-vibration is conducted to the optical load through the connecting structure to cause visual axis shake and imaging quality degradation, so that the micro-vibration becomes a core bottleneck for restricting the system performance. In order to ensure the normal operation of the optical load, the prior art adopts a vibration isolation and directional discrete architecture. For example, after the vibration isolation platform is adopted to attenuate fundamental frequency vibration, a fast control mirror or secondary mirror adjusting mechanism compensates residual errors and realizes accurate pointing. However, the problems of redundant structure, large occupied space, heavy whole weight, complex control system, high cost and the like of the framework are contrary to the development trend of light weight and integration of the spacecraft. The six-degree-of-freedom Stewart platform has vibration isolation and multidimensional pointing capability, but the full-degree-of-freedom strong coupling characteristic of the six-degree-of-freedom Stewart platform leads to complex control algorithm, high power consumption and high light weight difficulty. In view of the spatial optical load being primarily sensitive to pitch and yaw vibrations, the over-degree-of-freedom design of the platform can result in wasted resources. Therefore, it is desirable to develop an integrated platform with degree of freedom adaptation, simplified structure, control decoupling, and simultaneously achieving efficient vibration isolation and precise pointing. Disclosure of Invention In order to solve the technical problems, the invention adopts the following technical scheme: A four-leg motion platform for integrating spatial optical load vibration isolation and pointing comprises an upper platform, a lower platform, four driving legs and a limiting piece, wherein the four driving legs are symmetrically distributed at intervals of 90 degrees along the same circumference, and the axis of each driving leg forms an inclined angle with the central axis of the four-leg motion platform; The upper platform and the lower platform are connected through four driving support legs, the four driving support legs are identical in structure, the 1 st driving support leg is opposite to the 3 rd driving support leg in position to form a first group for controlling pitching motion of the upper platform, a limiting piece is coaxially arranged in the four support leg moving platform for integrating space optical load vibration isolation and direction and is connected with the lower platform, the 2 nd driving support leg is opposite to the 4 th driving support leg in position to form a second group for controlling yaw motion of the upper platform, and telescopic motion of the four driving support legs is controlled by controlling driving current of a voice coil motor in each driving support leg, so that gesture control of the upper platform is achieved. The invention has the following beneficial effects: (1) The vibration isolation and pointing function is integrated on the four-leg motion platform, so that the traditional vibration isolation and pointing discrete framework is replaced, the system quality can be remarkably reduced, and the space utilization rate of the spacecraft platform can be optimized. (2) The control decoupling method realizes decoupling of motion in the pitch and yaw directions through a specific four-leg layout and grouping control strategy (1, 3 legs control pitch and 2, 4 legs control yaw), simplifies a control algorithm and improves response speed and control precision. (3) The invention combines the voice coil motor with the flexible mechanism (the spring diaphragm and the flexible hinge), realizes large-stroke (supporting the pointing range of more than +/-1 ℃), high-precision, friction-free, gapless and lubrication-free movement, has long service life, and provides a good passive vibration isolation foundation at the low resonance frequency of the platform. Drawings FIG. 1 is a schematic diagram of a four-leg motion platform for spatial optical load vibration isolation and pointing integration according to the present invention, wherein 1-upper platform, 2-lower platform, 3-drive legs, 4-stop; FIG. 2 is a schematic diagram of the driving leg of the present invention, wherein the 5-flexible hinge, 6-pressu