Device for spatial control

FIELD: transportation.

SUBSTANCE: device for spatial control comprises disc element, which is installed inside and in the same plane with internal frame element and is connected movably to its pair of opposite sides by two axes. The first actuator located under disc element is immovably fixed on internal frame element and via hollow axis it is connected to the second actuator. The second pair of opposite sides of internal frame element is movably fixed by two axes with external frame element, which is movably fixed by hollow axis to electric drive installed on base. On specified base bellows bottom is immovably fixed, and outlet of it is immovably fixed on the second actuator. Hollow central axis with its direct section passes inside hollow axis along normal line to base and provides for movable connection of disc element to base and electric drive, and from the side of local bend it passes through center of disc element along normal to its plane.

EFFECT: improved efficiency of device, possibility to transform circular rotation of axis into angular motion in single plane.

1 dwg

 

The invention relates to the field of precision mechanics, mechatronics and optical engineering, and can be used as control devices along two spatial coordinates various mechanical or optical elements for changing the direction of radiation as coherent and conventional light sources. Devices of this type are widely used in research, in technology of precision materials processing, medicine, military equipment.

A device biaxial actuator control element (Min. Theoretical foundations of opto-electronic devices, p.53, L.: engineering, 1983)containing the actuating element, the frame element and the substrate, which are structurally placed one on another, and sequentially mechanically connected to each other with axes arranged orthogonal. The Executive element placed within the framework element and mechanically connected via an axis lying in the plane of the frame and having one of its sides a hard link with the center of the mass element, and the second part is movable mechanical link with the centre of one of the parties to the framework element, which, in turn, in the plane orthogonal to the axis of the connection element, but parallel to the plane of this Saint is zi, has a movable mechanical communication with the base by means of two axes lying in the same axial line, and each passing through the center of the corresponding side of the frame adjacent side of the frame connected with the actuating element.

The operation of the actuator control element is two-dimensionally based on the Annex to the axes of the Executive and the framework elements of the rotational or oscillatory movement, for example, electrically. The Executive element changes its angular position relative to the base in a plane perpendicular to the axis, to which is attached a rotary movement. When the rotational movement of the frame element relative to the base control element also rotates.

The disadvantage of this device is the presence of rotational motion of the output element relative to the base when the rotation of the master element.

It is known device two-dimensional deflector" (Patent RF №2306585), selected as a prototype, and containing the transducer, the disk element, the inner frame element, the external framework element, the base with the corresponding actuators of the axes of the disk and the outer framework elements. The Executive element fixedly mounted on the surface of the inner frame element, EXT is in the plane of which is placed a disk element, which at diametrically opposite points mechanically movably connected axes with opposite sides of the frame inner frame element, which, in turn, the other sides of the frame mechanically movably connected through axes located in the plane and orthogonal to the axes of connection of the disk and the inner framework elements, with the opposite sides of the outer frame element, which is associated with a corresponding actuator on the basis of a hollow axis, inside of which passes the Central axis of the mobile geometric center of the disk element and the corresponding actuator on the basis of at this Central axis is made with local angular bending from the side of the disk element, the shape of the local bending provides passage plot axis after bending through the geometric center of the disk element orthogonal to its plane, and the point of intersection of the lines corresponding axial relations of the disk and the framework elements is shared, coincides with the point of their geometric centers and is located on the longitudinal centerline of symmetry of the device.

Operation is "two-dimensional deflector" is based on the interaction of elements in such a way that a rotational movement of the respective actuators is converted to the nutation and precession the ionic movement of the inner frame element, which is fixed to the actuating element. Under the joint control of electrical drives is implemented by two-dimensional control element on the chosen law. The Executive element makes the axial rotation relative to the base.

The disadvantage of this device is the axial rotation of the element, which leads to a rotation of the coordinate system of the element relative to the base coordinate system of the base.

The basis of the offer of the invention is to preserve the coordinate system of the element relative to the base coordinate system with spatial control element due to the introduction of the second element, bellows, providing spatial mobility element and the stiffness of the longitudinal angular displacement relative to the base and movable mechanical connection between the first and second actuating elements.

The problem is solved in that the device spatial control containing the base, the first actuating element fixed to the inner frame element, the external framework element and a disk element, placed one within another and sequentially mechanically movably connected between orthogonals is spaced axes, actuators external framework element and a disk element, placed on the base, with the drive external framework element mechanically movably connected with the Central axis of the outer frame element, and the drive disk member through the Central axis of the mechanical movably associated with the geometric centre of the disk element according to the invention it is additionally input a second control element, the hollow axis of the connection of the first element with the second actuating element, bellows, placed so that its bottom is still mechanically connected to the base, the output is still mechanically connected with the second actuating element, and its geometric center is located on the centerline of symmetry of the device, with this Central axis is made hollow.

The inventive device spatial control is illustrated by a drawing, which shows the kinematic diagram of the interaction of the elements.

The device spatial control contains the disk element 1, which is placed inside and in the same plane with the inner frame element 2 and connected movably with its pair of opposite sides by two axes. The first actuating element 3 located above the disc element 1 is fixedly mounted on the inner frame element 2 and through the second axle 4 is connected with the second actuating element 5. The second pair of opposite sides of the inner frame element 2 is movable in two axes with external framework element 6, which is movably connected by the hollow axle 7 with the actuator 8, located at the base 9, on which is fixedly mounted to the bottom 10 of the bellows, and the output of his 11 fixedly mounted on the second actuating element 5. A hollow Central axis 12 of his direct plot takes place inside the hollow axis 7 along the normal to the base 9 and provides mobile disc element 1 with the base 9 and the actuator 13, and from local bending passes through the center disk element 1 along the normal to its plane. In this position the plane of the disk member with respect to the axis of the device acquires some angle Q equal to the angle of the local bending of the Central axis 12 relative to the axis of symmetry of the device. A specific example of the movable connections between the elements can be, for example, the connection - axis in the bearing.

During the rotation of the hollow Central axis 12 through the actuator 13 and the fixed axis 7 external framework element 6 plot axis after the local curve passing through a bearing in the center of the disk element 1, describes the shape of the rotation - cone having an angle of aperture of 2Q. The top of the cone is located in the center of the disk element 1 and on the centerline of symmetry of the device. The disk is the first element 1 is placed on this part of the Central axis 12 and movably, not spinning, his plane in space clearly repeats the shape of the rotation. Two of its axis mobile, passing through bearings on opposite sides of the inner frame element 2, provide an unambiguous change in the angular position of the plane of the inner frame element 2, therefore, the first element 3, within 2Q relative to the centerline of symmetry of the device, but in one plane or axis, perpendicular to the axes of its mobile through the bearings with the opposite sides of the outer frame element 6. The rotation of the hollow shaft 7 external framework element 6 with the actuator 8 is provided to change the angular position of the outer frame element 6, and thus control the first actuating element 3 according to the second coordinate. The movement of the first element two-dimensionally precision causes movement of the second element.

The transfer actuator according to the second coordinate with external framework element on the base, as well as the corresponding one in the other, the placement of device elements having axial symmetry, provide the technological capability compact manufacture of the device, which also increases its speed. View of the mechanical linkage provides in order to carry out the practical implementation of the device with the amount of mechanical backlash of the actuator is limited only by the backlash bearings used. Converter rotary motion into oscillatory as the axis with the local bending of the disk element, it is possible to quantitatively transform circular rotation axis in angular movement in one plane with the ratio depending on the magnitude of the local angular bending axis.

Joint control of electrical drives allows you to implement a two-axis control of the actuating element on the chosen law. For example, to implement the actuator control element that describes the spiral of Archimedes, enough to provide one-way rotation of both axes with the difference in speeds determined the required pitch of the spiral.

The device spatial control containing the base, the first actuating element fixed to the inner frame element, the external framework element and a disk element, placed one within another and sequentially mechanically interconnected spaced orthogonal axes, drives external framework element and a disk element, placed on the base, with the drive external framework element mechanically movably connected by the hollow axle with external framework element, and the drive disk member through the Central axis of the mechanical movably associated with the geometric centre of the disk cell battery (included) is that, characterized in that it additionally introduced the second actuating element, the hollow axis of the connection of the first element with the second actuating element, bellows, placed so that the bottom of the bellows is still mechanically connected to the base, the output of the bellows is still mechanically connected with the second actuating element, and its geometric center is located on the centerline of symmetry of the device, while the Central axis is made hollow.



 

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