Two-degree-of-freedom rotation control device and application system with device

Abstract

The present invention discloses a two-degree-of-freedom rotation control device and an application system with the device. The device comprises a rotating body (1) which comprises a friction spherical surface and is provided with a load mounting platform at the top or internal part of the rotating body, a fixed support structure which holds the rotating body (1) such that the rotating body has the rotational degrees of freedom, drive motors (7) which are standing wave type piezoelectric ceramic motors and are longitudinally distributed around the rotating body (1), and a control unit which controls and adjusts the rotation of the rotating body (1) in two rotational degrees of freedom according to the attitude data measured by a detection unit. The driving ends of the drive motors are in direct contact with the friction spherical surface of the rotating body (1), and longitudinal friction transmission pairs which are tangent to the friction spherical surface are formed. The device has the advantages of simple structure, low cost, stable performance, easy miniaturization, wide dynamic response and small power consumption and can be widely used in a variety of dynamic stabilization platforms and automatic static directional / leveling devices.

Description

technical field [0001] The invention relates to the technical field of rotating devices, in particular to a dual-degree-of-freedom rotating control device. The invention also relates to an application system provided with the device. Background technique [0002] The device and application system of two-degree-of-freedom rotation are often used to realize stable platforms, automatic leveling devices, etc., and are the core of realizing three-rotation-degree-of-freedom driving and stabilizing devices and methods. [0003] At present, most of the dual-degree-of-freedom rotating devices are realized by two mutually orthogonal rotating frames. Motors and sensors are installed at both ends of the rotating shaft of each frame to realize driving and rotation angle measurement, and the external frame is used for support and fixation. [0004] Please refer to figure 1 , figure 1 It is a schematic structural diagram of a frame-type two-degree-of-freedom rotary control device. [0...

AI Technical Summary

Problems solved by technology

[0007] First of all, the frame form and nested structure will cause the entire device to be too bulky, which is not conducive to the development in the direction of miniaturization, will occupy too much space, and will be difficult to arrange and assemble

[0008] Secondly, although its structure is relatively simple from the perspective of the schematic diagram, in the actual manufacturing process, in order to ensure that the two rotation axes are precisely perpendicular to each other, its mechanical structure will be very complicated, and the processing and assembly accuracy requirements are very high. , leading to higher equipment costs

[0009] Furthermore, the frame structure leads to poor rigidity of the whole device, and the performance is not stable enough

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