CN-121978828-A - Large-angle compact type quick reflector and control method thereof

CN121978828ACN 121978828 ACN121978828 ACN 121978828ACN-121978828-A

Abstract

The invention discloses a large-angle compact type quick reflector and a control method thereof, which solve the technical problems that the prior quick reflector has complex structure, large volume, low integration level and small deflection range, and is difficult to meet the requirement of large-view-field scanning, wherein the large-angle compact type quick reflector comprises a reflector body, an annular base cover, a base, a reflector body seat and four reflector body seat deflection driving devices, and the annular base cover is connected with the base, the reflector body seat accommodation space forming the concentric spherical structure is formed, the reflector body seat is arranged in the reflector body seat accommodation space, a spherical pair is formed, the reflector body seat has high freedom degree under the premise of connecting reliability and working stability, and the precise regulation and control of the multi-axis attitude angle of the reflector body are realized through four reflector body seat deflection driving devices arranged between the bottom wall of the reflector body seat and the bottom wall of the base.

Inventors

HUANG WEI
XIE CHAO
XU LIANG
LI XIAOHUI
Pei Yongle
ZHANG XIBIN
LIU FENG
WU JIANJUN

Assignees

中国科学院西安光学精密机械研究所

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (10)

1. The large-angle compact rapid reflecting mirror is characterized by comprising a reflecting mirror body (1), an annular base cover (2), a base (3), a reflecting mirror body seat (4) and four reflecting mirror body seat deflection driving devices; The base (3) comprises a bottom wall and a side wall formed by extending upwards along the circumference of the bottom wall; The bottom surface of the annular base cover (2) is detachably connected with the top surface of the side wall of the base (3), and a reflector body seat accommodating space is formed between the bottom surface of the annular base cover (2) and the top surface of the side wall of the base (3), wherein the inner wall surface of the annular base cover (2) and the inner wall surface of the side wall of the base (3) are spherical surfaces, and the two spherical surfaces are concentric spherical surfaces; The reflector body seat (4) comprises a body seat bottom wall (401) and body seat side walls which are formed by extending upwards along the circumferential side of the body seat bottom wall (401), the reflector body seat (4) is positioned in a reflector body seat accommodating space, the outer wall surfaces of the body seat side walls are matched with the two spherical surfaces to form spherical pairs, a reflector body seat deflection driving device accommodating space is formed between the body seat bottom wall (401) and the bottom wall of the base (3), four sliding grooves (404) which are in one-to-one correspondence with the reflector body seat deflection driving devices are arranged on the body seat bottom wall (401), the four sliding grooves (404) are uniformly distributed along the circumference of the body seat bottom wall (401), and the length direction of the four sliding grooves is the radial direction of the body seat bottom wall (401); the reflector body (1) is positioned at the top of the reflector body seat (4), and the reflector body seat are detachably connected; Four reflector body seat deflection drive arrangement sets up in reflector body seat deflection drive arrangement accommodation space according to cartesian coordinate system coordinate axis positional relationship, and every reflector body seat deflection drive arrangement all includes drive arrangement (5) and power transmission device that set up on base (3) to and wedge drive piece (7), drive arrangement (5) are passed through power transmission device drive wedge drive piece (7) and are followed reciprocating rectilinear motion in the length direction of spout (404), the upper end of wedge drive piece (7) is equipped with stretches into drive inclined plane in spout (404), and drive inclined plane and spout (404) are close to the lateral wall butt at reflector body (1) axle center, and four wedge drive pieces (7) are the joint drive reflector body seat (4) around the sphere center of sphere pair is deflection motion to the space orientation of adjustment reflector body (1).
2. The large-angle compact quick mirror according to claim 1, characterized in that each power transmission device comprises a first transmission gear (10), a second transmission gear (9), a worm (6) and a worm slider (8); The power output shaft of the driving device (5) is connected with a first transmission gear (10) and is used for driving the first transmission gear (10) to rotate; The first transmission gear (10) is meshed with the second transmission gear (9), and the second transmission gear (9) is coaxially connected with the worm (6) so as to drive the worm (6) to rotate; the wedge-shaped driving block (7) is fixedly arranged at the top of the worm sliding block (8); The worm sliding block (8) is connected with the worm (6) through a screw transmission pair; the driving device (5) drives the first transmission gear (10) to rotate, and then drives the worm (6) to rotate through the second transmission gear (9), so that the worm sliding block (8) makes reciprocating linear motion along the worm (6), and the reflector body seat (4) is driven to do deflection motion around the spherical center of the spherical pair under the cooperation of the wedge-shaped driving block (7) and the sliding groove (404).
3. The large-angle compact flash mirror according to claim 2, characterized in that the thickness of the wedge-shaped driving block (7) is smaller than the width of the chute (404); The side wall of the chute (404) close to the axis of the reflector body (1) is of an arc-shaped structure; the screw transmission pair comprises two clamping rings and a plurality of balls; The worm (6) is provided with a spiral first circular arc groove, the worm sliding block (8) is provided with a through hole which is matched with the worm (6) in size along the axis, and the inner wall surface of the through hole is provided with a second circular arc groove which is matched with the first circular arc groove in size so as to form a spiral hollow slideway; The plurality of balls are arranged in the spiral hollow slideway, and two ends of the spiral hollow slideway are sealed through the clamping ring to form a spiral transmission pair; and enabling the perimeter of the radial section of the spiral hollow slideway to be L, and enabling the arc length of the radial section of the second arc groove to be more than 0.5L.
4. The high-angle compact flash mirror according to claim 2, characterized in that the transmission ratio of the first transmission gear (10) to the second transmission gear (9) is 1:1.
5. The large-angle compact rapid reflecting mirror according to claim 1, wherein the bottom wall (401) of the body seat is provided with a first annular boss (405) and four lugs (402) uniformly distributed on the outer peripheral side of the first annular boss (405); The bottom axle center department of speculum body (1) is provided with second cyclic annular boss (101) with first cyclic annular boss (405) size adaptation, and both mutual lock to carry out radial spacing to speculum body (1), after second cyclic annular boss (101) lock is on first cyclic annular boss (405), the bottom surface of second cyclic annular boss (101) and the top butt of four lug (402).
6. The large-angle compact quick mirror according to claim 1, characterized in that the maximum height of the wedge-shaped driving block (7) is defined as h, the distance between the abutting part of the wedge-shaped driving block and the sliding groove (404) and the central axis of the mirror body (1) is defined as a, if any, , 。
7. The large-angle compact rapid reflecting mirror according to claim 1, wherein the joint of the two spherical surfaces is the spherical maximum round surface of the accommodating space of the reflecting mirror body seat; Half of the height of the side wall of the body seat is the largest round surface of the spherical structure.
8. The large angle compact flash mirror according to claim 1, further comprising a fixture (102); The reflector body (1) is connected with the top of the side wall of the body seat through a fixing piece (102) so as to perform axial limiting; One end of the fixing piece is connected with the top of the side wall of the body seat, and the other end of the fixing piece compresses the reflector body (1) so as to limit the reflector body (1) to be axially positioned between the reflector body seat (4) and the fixing piece (102).
9. The control method of the large-angle compact quick reflector is characterized by comprising the following steps of: Step 1, constructing the large-angle compact rapid reflecting mirror as claimed in claim 1, initializing a reflecting mirror body seat deflection driving device to enable the reflecting mirror body (1) to be in a horizontal state, determining the abutting position of a wedge-shaped driving block (7) and a sliding groove (404) of the reflecting mirror body seat (4), and determining the distance a between the abutting position and the central axis of the reflecting mirror body (1) and the inclination angle of a driving inclined plane of the wedge-shaped driving block (7) ; Step 2, taking the intersection point of the motion routes of two adjacent wedge-shaped driving blocks (7) as the origin of a three-dimensional rectangular coordinate system, wherein the two motion routes are respectively an X axis and a Z axis, and constructing the rectangular coordinate system; Step 3, obtaining the target point P to be pointed and the coordinates thereof in the rectangular coordinate system ; Step4, according to the rectangular coordinate system, pointing to the target point P Constructing a polar coordinate system corresponding to the rectangular coordinate system, and determining a polar coordinate formula and the coordinates of the target point P to be pointed in the polar coordinate system as , wherein, Is a vector in a polar coordinate system Is used for the rotation of the rotor, Two coaxial angles to be adjusted in the four reflector body seat deflection driving devices, The angle required to be adjusted by the deflection driving device for the rest two reflector body seats; step 5, according to Euler angle rotation, vectors in a polar coordinate system are calculated According to Is rotated by the shaft to obtain a vector Direction cosine matrix of rotation ; Step 6, according to the polar coordinate formula sum Calculated to obtain ; ; Wherein, the Is a direction cosine matrix A first row of (a); Is a direction cosine matrix A second row of (a); Is a direction cosine matrix The third row of (3); The distance from any point to the origin in the rectangular coordinate system; Step 7, a and a obtained according to the step 1 And the step 6 And Calculating to obtain the adjustment Wedge-shaped driving block (7) of the reflector body seat deflection driving device moves a distance And need to be adjusted Wedge-shaped driving block (7) of the reflector body seat deflection driving device moves a distance ; Step 8, controlling two adjustment requirements The moving distances of wedge-shaped driving blocks (7) of the deflection driving device of the reflector body seat are the same, and the wedge-shaped driving blocks are all The moving directions are opposite, and the two are controlled to be adjusted The moving distances of wedge-shaped driving blocks (7) of the deflection driving device of the reflector body seat are the same, and the wedge-shaped driving blocks are all And the movement directions are opposite, so that the control of the large-angle compact quick reflector is completed.
10. The method of claim 9, wherein in step 5, the direction cosine matrix is used for controlling the large-angle compact type quick reflector The expression of (2) is: ; Wherein, the As the yaw angle in the attitude angle, Is the roll angle among the attitude angles, Is the pitch angle in attitude angle; in step 4, the polar formula is as follows: ; wherein x, y and z are coordinates of any point in a rectangular coordinate system; Is the polar coordinate corresponding to any point in the rectangular coordinate system in the polar coordinate system.

Description

Large-angle compact type quick reflector and control method thereof Technical Field The invention relates to a quick reflector and a control method thereof, in particular to a large-angle compact quick reflector and a control method thereof. Background A fast Mirror (FAST STEERING Mirror, FSM) is a critical opto-electromechanical device for high-speed, precise adjustment of beam pointing, which research stems from real-time compensation requirements for problems of platform vibration, atmospheric disturbances, and fast scanning. Along with the development of the photoelectric system to the dynamic and high-precision directions, the fast reflector realizes high-bandwidth and high-precision control of beam pointing through fast adjustment of the micro angle of the reflector, and becomes an indispensable core execution component in the modern photoelectric system. At present, the quick reflector is widely applied to the fields of airborne precision optical imaging, laser beam control, unmanned plane laser radar, adaptive optics, inter-satellite/satellite free space optical communication and the like. In particular, in an airborne platform system, due to flight vibration, pneumatic disturbance and strong platform mobility, the traditional mechanical turntable is difficult to meet the requirement of high-frequency precise compensation, and the rapid reflecting mirror bears important tasks of laser image stabilization, precise aiming and rapid tracking by virtue of small inertia and high dynamic characteristics, so that the method is one of key technologies for realizing airborne precise optical imaging, precise pointing of high-energy laser and energy focusing. Under the application background, the development of the quick reflector presents urgent demands for compact structure, miniaturization and high integration level so as to reduce rotational inertia, promote dynamic response and adapt to limited space environments such as airborne, vehicle-mounted, satellite-borne and the like. Meanwhile, the quick reflector needs to realize a larger adjustment angle on the premise of ensuring high angle resolution and high repetition accuracy so as to meet the requirements of precise stability and large-view-field scanning. The Chinese patent No. 119937151A discloses a quick reflector device which comprises a base, N flexible lever amplifying mechanisms, N piezoelectric ceramic drivers, a flexible supporting table, a reflector and N displacement detectors, wherein fixed ends of the N flexible lever amplifying mechanisms are respectively connected with the same side of the base, the N piezoelectric ceramic drivers are respectively arranged in installation spaces of the N flexible lever amplifying mechanisms, the installation ends of the N piezoelectric ceramic drivers are connected with the fixed ends of the flexible lever amplifying mechanisms, the driving ends of the N piezoelectric ceramic drivers are connected with the amplifying ends of the flexible lever amplifying mechanisms, the N displacement detectors are respectively arranged at the free ends of the N flexible lever amplifying mechanisms, the flexible supporting table is provided with 1 connection surface and N connection ends, the N connection ends of the N piezoelectric ceramic drivers are respectively connected with the free ends of the N flexible lever amplifying mechanisms, and the reflector is connected to the connection surface. However, the quick reflector device has the problems of complex structure, large volume and low integration level, and the deflection range of the reflector is still small, so that the requirement of large-field scanning is difficult to meet. Disclosure of Invention The invention aims to solve the technical problems that the existing quick reflector is complex in structure, large in size and low in integration level, and has a small deflection range, and the requirement of large-view-field scanning is difficult to meet, and provides a large-angle compact quick reflector and a control method thereof. In order to achieve the above purpose, the technical solution provided by the present invention is: the large-angle compact rapid reflecting mirror is characterized by comprising a reflecting mirror body, an annular base cover, a base, a reflecting mirror body seat and four reflecting mirror body seat deflection driving devices. The base comprises a bottom wall and a side wall formed by extending upwards along the circumference of the bottom wall. The bottom surface of the annular base cover is detachably connected with the top surface of the side wall of the base, a reflector body seat accommodating space is formed between the bottom surface of the annular base cover and the top surface of the side wall of the base, the inner wall surface of the annular base cover and the inner wall surface of the side wall of the base are spherical surfaces, and the two spherical surfaces are concentric spherical surfaces. The reflector body seat inc