阅读说明：本技术 一种经纬仪防飞车机电保护系统 (Theodolite anti-runaway electromechanical protection system ) 是由 郭敏 李翔宇 谢梅林 李治国 郝伟 王海涛 杨小军 阮萍 井岩松 于 2021-08-31 设计创作，主要内容包括：本发明提供一种经纬仪防飞车机电保护系统,解决经纬仪工作过程中俯仰轴存在飞车情况,导致光学负载和控制系统电路损坏的问题。该经纬仪防飞车机电保护系统采用常开型单摩擦片电磁式制动器与缓冲吸能单元组合的结构形式。该结构形式具有吸能效果强、避免结构刚性碰撞、安装方便等优点,辅助配合伺服电机刹停运动,可进一步保护伺服控制系统和光学负载,提高系统可靠性。(The invention provides an anti-galloping electromechanical protection system for a theodolite, which solves the problem that the circuit of an optical load and a control system is damaged due to galloping of a pitching shaft in the working process of the theodolite. The theodolite anti-runaway electromechanical protection system adopts a structural form of combining a normally-open single-friction-plate electromagnetic brake and a buffering energy absorption unit. The structure has the advantages of strong energy absorption effect, avoidance of structural rigidity collision, convenience in installation and the like, is matched with the servo motor in a braking and stopping manner in an auxiliary manner, can further protect a servo control system and an optical load, and improves the reliability of the system.)

1. The utility model provides a theodolite anti-galloping electromechanical protection system which characterized in that: the energy-absorbing brake comprises a normally open type single-friction-plate electromagnetic brake (9), a control power supply (10), an energy-absorbing impact rod (5) and two groups of buffering energy-absorbing units (6);

the normally-open single-friction-plate electromagnetic brake (9) is arranged on a pitching right main shaft (8) of the theodolite and used for absorbing inertial potential energy of an optical load (2) generated due to speed, and the control power supply (10) is arranged on a theodolite rack (20) and used for providing electric energy for the normally-open single-friction-plate electromagnetic brake (9);

the energy-absorbing impact rod (5) is arranged on the pitching left main shaft (4) of the theodolite and synchronously rotates with the pitching left main shaft (4);

the two groups of buffering energy absorption units (6) are arranged on the theodolite rack (20) and are positioned on two sides of the pitching left main shaft (4);

the buffer energy-absorbing unit (6) comprises a limiting seat (13), a collision head (14), an energy-absorbing spring (15), a shaft cover (16), a locking nut (17), an adjusting threaded sleeve (18) and an energy-absorbing cushion (19); the limiting seat (13) is of a cylinder structure, is arranged on the theodolite rack (20), and is internally provided with a buffer cavity; the shaft cover (16) is arranged at the top opening end of the limiting seat (13), the energy-absorbing cushion (19) is arranged at the bottom of the buffer cavity, one end of the collision head (14) is arranged in the buffer cavity, and the other end of the collision head extends out of the buffer cavity and is used for being matched with the energy-absorbing collision rod (5); the energy-absorbing spring (15) is arranged in a buffer cavity of the limiting seat (13), one end of the energy-absorbing spring is sleeved on the energy-absorbing buffer pad (19), and the other end of the energy-absorbing spring is sleeved on the collision head (14); the collision head (14) is provided with a limiting step, the collision head (14) extending out of the buffer cavity is sleeved with an adjusting threaded sleeve (18), the adjusting threaded sleeve (18) is limited by the limiting step, the adjusting threaded sleeve (18) is in threaded fit with the shaft cover (16), and the height of the collision head (14) extending out of the limiting seat (13) can be adjusted by adjusting the threaded fit position between the shaft cover (16) and the adjusting threaded sleeve (18); the locking nut (17) is sleeved on the outer side of the adjusting threaded sleeve (18) and used for locking the position of the adjusting threaded sleeve (18).

2. The theodolite anti-galloping electromechanical protection system according to claim 1, characterized in that: the stiffness of the energy absorbing cushion (19) and the stiffness of the energy absorbing spring (15) are obtained by the following formula,

X_t＝sin(θ₃-θ₁)·L_t

X_d＝sin(θ₃-θ₂)·L_t

wherein, X_tThe braking distance of the energy-absorbing spring is set; l is_tThe distance between the center of the pitching left main shaft and the central axis of the collision head is shown; theta₁The angle of the pitching left main shaft is the angle when the energy-absorbing impact rod touches the impact head; theta₂The angle of the pitching left main shaft is the angle when the bottom end face of the collision head is contacted with the energy-absorbing cushion pad; theta₃The angle of the pitching left main shaft when the energy-absorbing cushion pad is compressed to the limit position; j. the design is a square_maxMoment of inertia, omega, about the left principal axis of pitch for optical loads_maxThe angular velocity of the left pitching main shaft which rotates to reach the boundary condition of the galloping vehicle; m_dThe brake is a suction friction torque when a normally open type single-friction-plate electromagnetic brake is closed; theta₀The limit working angle of the pitching left main shaft is set; k is a radical of_tIs the stiffness of the energy-absorbing spring; k is a radical of_dThe stiffness of the energy absorbing cushion.

3. The theodolite anti-galloping electromechanical protection system according to claim 1, characterized in that: the angle between the central axes of the two collision heads (14) is 2 theta₁。

4. The theodolite anti-galloping electromechanical protection system according to claim 1, 2 or 3, characterized in that: the normally-open single-friction-plate electromagnetic brake (9) comprises an electromagnetic brake stator support frame (7), a brake stator (91), a brake armature (92), a plate-shaped deformation spring (93) and an electromagnetic brake rotor support frame (12); electromagnetic brake stator support frame (7) suit is on every single move right side main shaft (8), and respectively with stopper stator (91), theodolite frame (20) fixed connection, stopper armature (92) set up the one side in stopper stator (91), and be equipped with the braking clearance with stopper stator (91), platelike deformation spring (93) set up between stopper armature (92) and electromagnetic brake rotor support frame (12), stopper armature (92) and platelike deformation spring (93) fixed connection, platelike deformation spring (93) and electromagnetic brake rotor support frame (12) fixed connection, electromagnetic brake stator support frame (7) and every single move right side main shaft (8) fixed connection.

5. The theodolite anti-galloping electromechanical protection system according to claim 4, characterized in that: one end of the collision head (14) matched with the energy-absorbing collision rod (5) is arranged to be of a spherical structure and used for reducing collision vibration.

6. The theodolite anti-galloping electromechanical protection system according to claim 5, characterized in that: the energy-absorbing cushion (19) is an energy-absorbing rubber cushion.

7. The theodolite anti-galloping electromechanical protection system according to claim 6, characterized in that: an electromagnetic brake space ring (11) is arranged on the end face, connected with the pitching right main shaft (8), of the electromagnetic brake rotor support frame (12), and the gap between the brake armature (92) and the brake stator (91) is adjusted by trimming the thickness of the electromagnetic brake space ring (11).

8. The theodolite anti-galloping electromechanical protection system according to claim 7, characterized in that: the clearance between the brake armature (92) and the brake stator (91) is 0.2-0.3 mm.

9. The theodolite anti-galloping electromechanical protection system according to claim 8, characterized in that: the brake stator (91) is powered by a 24V direct current power supply, and an end face button is arranged on the 24V direct current power supply.

Technical Field

The invention belongs to the field of theodolites, and particularly relates to an anti-galloping electromechanical protection system for a theodolite.

Background

The theodolite is a measuring instrument designed according to the goniometric principle and used for measuring the azimuth angle and the pitch angle.

A slip ring mechanism is arranged on the azimuth axis of the theodolite, and can realize 360-degree unlimited rotation. The theodolite pitch axis carries an optical load and rotates within a certain angle, generally-5 to 185 degrees. However, for a servo control system of a pitch axis of a theodolite, a runaway situation often occurs due to problems of program runaway, singular points of a control algorithm, electromagnetic interference and the like, an optical load is seriously impacted on a U-shaped frame of the pitch axis to damage a system structure, and economic loss caused by equipment loss is often very high.

Chinese patent publication No. CN110661233A specifies several situations for determining the runaway. Case 1: and judging whether the vehicle flies by judging whether the obtained angle allowance is smaller than the limit braking and stopping angle. Case 2: whether the servo control program runs away is judged by monitoring whether the watchdog system timer exceeds a threshold value. Case 3: and judging whether the control algorithm has singularities or not by calculating whether the rotating angular speed and the angular acceleration exceed set values or not. And after the galloping is judged, the servo motor is braked and stopped by using the servo control system, so that the mechanism stops rotating.

The servo system stops the servo motor, which is a deceleration and stop process, and is not directly stopped and stopped. The main reason is that direct braking stops can generate overcurrent in the servo control system, and the control system circuit has damage risk. At the same time, the braking stall can cause the optical load to bear a large inertia braking moment, and the optical load is also damaged.

Disclosure of Invention

The invention provides an anti-runaway electromechanical protection system for a theodolite, which solves the problem that an optical load and a control system circuit are damaged due to runaway of a pitching shaft in the working process of the theodolite. The theodolite anti-runaway electromechanical protection system adopts a structural form of combining a normally open single-friction-plate electromagnetic brake and a buffering energy absorption unit. The structure has the advantages of strong energy absorption effect, avoidance of structural rigidity collision, convenience in installation and the like, is matched with the servo motor in a braking and stopping manner in an auxiliary manner, can further protect a servo control system and an optical load, and improves the reliability of the system.

In order to achieve the purpose, the invention adopts the following technical scheme:

the theodolite anti-runaway electromechanical protection system comprises a normally open single-friction-plate electromagnetic brake, a control power supply, an energy-absorbing impact bar and two groups of buffering energy-absorbing units; the normally-open single-friction-plate electromagnetic brake is arranged on a pitching right main shaft of the theodolite and used for absorbing inertial potential energy of an optical load generated due to speed, and the control power supply is arranged on a theodolite rack and used for supplying electric energy to the normally-open single-friction-plate electromagnetic brake; the energy-absorbing impact rod is arranged on the pitching left main shaft of the theodolite and synchronously rotates with the pitching left main shaft of the theodolite; the two groups of buffering energy absorption units are arranged on the theodolite rack and are positioned on two sides of the pitching left main shaft; the buffering energy-absorbing unit comprises a limiting seat, a collision head, an energy-absorbing spring, a shaft cover, a locking nut, an adjusting threaded sleeve and an energy-absorbing cushion pad; the limiting seat is of a cylinder structure, is arranged on the theodolite rack and is internally provided with a buffer cavity; the shaft cover is arranged at the top opening end of the limiting seat, the energy-absorbing cushion is arranged at the bottom of the buffer cavity, one end of the collision head is arranged in the buffer cavity, and the other end of the collision head extends out of the buffer cavity and is used for being matched with the energy-absorbing collision rod; the energy-absorbing spring is arranged in the buffer cavity of the limiting seat, one end of the energy-absorbing spring is sleeved on the energy-absorbing buffer pad, and the other end of the energy-absorbing spring is sleeved on the collision head; the collision head is provided with a limiting step, the collision head extending out of the buffer cavity is sleeved with an adjusting threaded sleeve, the adjusting threaded sleeve is limited by the limiting step, the adjusting threaded sleeve is in threaded fit with the shaft cover, and the height of the collision head extending out of the limiting seat can be adjusted by adjusting the threaded fit position between the shaft cover and the adjusting threaded sleeve; the locking nut is sleeved outside the adjusting threaded sleeve and used for locking the position of the adjusting threaded sleeve.

The normally-open single-friction-plate electromagnetic brake can be realized in various forms, and can mainly absorb part of inertial potential energy of optical load generated by speed. Preferably, the method is realized by adopting the following structural form: the normally-open type single-friction-plate electromagnetic brake comprises an electromagnetic brake stator support frame, a brake stator, a brake armature, a plate-shaped deformation spring and an electromagnetic brake rotor support frame; electromagnetic braking ware stator support frame suit is on every single move right side main shaft, and respectively with stopper stator, theodolite frame fixed connection, stopper armature sets up in one side of stopper stator, and is equipped with the braking clearance with the stopper stator, the platelike deformation spring sets up between stopper armature and electromagnetic braking ware rotor support frame, stopper armature and platelike deformation spring fixed connection, platelike deformation spring and electromagnetic braking ware rotor support frame fixed connection, electromagnetic braking ware stator support frame and every single move right side main shaft fixed connection.

Further, the stiffness of the energy absorbing cushion and the stiffness of the energy absorbing spring are obtained by the following formulas,

X_t＝sin(θ₃-θ₁)·L_t

X_d＝sin(θ₃-θ₂)·L_t

wherein, X_tThe braking distance of the energy-absorbing spring is set; l is_tThe distance between the center of the pitching left main shaft and the central axis of the collision head is shown; theta₁The angle of the pitching left main shaft is the angle when the energy-absorbing impact rod touches the impact head; theta₂The angle of the pitching left main shaft is the angle when the bottom end face of the collision head is contacted with the energy-absorbing cushion pad; theta₃The angle of the pitching left main shaft when the energy-absorbing cushion pad is compressed to the limit position; j. the design is a square_maxMoment of inertia, omega, about the left principal axis of pitch for optical loads_maxThe angular velocity of the left pitching main shaft which rotates to reach the boundary condition of the galloping vehicle; m_dThe brake is a suction friction torque when a normally open type single-friction-plate electromagnetic brake is closed; theta₀The included angle between the upper inclined plane and the horizontal axis of the energy-absorbing impact rod and the included angle between the lower inclined plane and the horizontal axis are set to be theta₀；k_tIs the stiffness of the energy-absorbing spring; k is a radical of_dThe stiffness of the energy absorbing cushion.

Further, the angle between the center lines of the two collision heads is 2 θ₁。

Furthermore, the collision head and the energy-absorbing collision rod are matched, one end of the collision head and one end of the energy-absorbing collision rod are of a spherical structure, and the energy-absorbing cushion is an energy-absorbing rubber cushion and is used for reducing collision vibration.

Furthermore, an electromagnetic brake space ring is arranged on the end face, connected with the pitching right main shaft, of the electromagnetic brake rotor support frame, and the gap between the brake armature and the brake stator is adjusted by trimming the thickness of the electromagnetic brake space ring. And the clearance between the brake armature and the brake stator is 0.2-0.3 mm. The brake stator is powered by a 24V direct current power supply, and the 24V direct current power supply is provided with an end face button.

Compared with the prior art, the invention has the following beneficial effects:

1. the theodolite anti-runaway electromechanical protection system disclosed by the invention avoids structural rigidity collision when a theodolite pitching axis flies through a structural form that a normally-open single-friction-plate electromagnetic brake and a buffering energy absorption unit are combined to absorb energy, assists in matching with a servo motor to brake and stop movement, and protects a servo control system and an optical load.

2. In the theodolite anti-galloping electromechanical protection system, no matter the theodolite anti-galloping electromechanical protection system is a normally-open single-friction-plate electromagnetic brake or a buffering energy absorption unit, the theodolite anti-galloping electromechanical protection system is in a radial friction energy absorption mode and has no braking hard limit, so that a theodolite pitching axis and an optical load have no sudden stop impact vibration, and the safety of the theodolite pitching axis and the optical load is ensured.

3. The height of the collision head extending out of the limiting seat of the system can be adjusted through the thread matching position between the shaft cover and the adjusting threaded sleeve, and the position of the energy-absorbing collision rod colliding with the collision head is further controlled, so that the theodolite pitching shaft can carry optical loads to meet the requirement of the rotation angle.

Drawings

FIG. 1 is a schematic view of a pitch axis of a theodolite carrying an anti-runaway electromechanical protection system of the theodolite of the present invention;

FIG. 2 is a schematic view of the installation of a normally open single-friction-plate electromagnetic brake according to the present invention;

FIG. 3a is a schematic diagram of a normally open state of a normally open type single-friction-plate electromagnetic brake according to the present invention;

FIG. 3b is a schematic diagram of a closed state of a normally open single-friction-plate electromagnetic brake according to the present invention;

FIG. 4 is a schematic view of the installation of the energy absorption and buffering unit according to the present invention;

fig. 5 is a schematic diagram of a control circuit of the theodolite drive motor of the present invention.

Reference numerals: 1-U-shaped frame, 2-optical load, 3-driving motor, 4-pitching left main shaft, 5-energy-absorbing impact rod, 6-buffering energy-absorbing unit, 7-electromagnetic brake stator support frame, 8-pitching right main shaft, 9-normally open single-friction-plate electromagnetic brake, 10-control power supply, 11-electromagnetic brake spacer ring, 12-electromagnetic brake rotor support frame, 13-limit seat, 14-impact head, 15-energy-absorbing spring, 16-shaft cover, 17-locking nut, 18-adjusting screw sleeve, 19-energy-absorbing cushion pad, 20-theodolite frame, 91-brake stator, 92-brake armature and 93-plate-shaped deformation spring.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.

The optical load is sometimes set to be long due to the working focal length or replaced due to different working tasks, so that the optical load cannot rotate on the U-shaped frame in a whole circle. After the pitching shaft of the theodolite is judged to fly, the servo motor is braked and stopped by the servo control system, the optical load can bear a larger inertia braking torque due to braking stop, and the inertia braking torque damages the optical load and the U-shaped frame. Therefore, the invention provides an anti-galloping electromechanical protection system for a theodolite, which avoids the damage to a U-shaped frame and an optical load.

The theodolite anti-runaway electromechanical protection system is matched with the servo motor for braking and stopping movement in an auxiliary mode when the servo system brakes and stops the servo motor. The theodolite anti-runaway electromechanical protection system comprises a normally open single-friction-plate electromagnetic brake 9, a control power supply 10, an energy-absorbing impact bar 5 and two groups of buffering energy-absorbing units 6. The normally open type single friction plate electromagnetic brake 9 is arranged on a pitching right main shaft 8 of the theodolite and used for absorbing inertia potential energy generated by the optical load 2 due to speed, and the control power supply 10 is arranged on a theodolite frame 20 and used for supplying electric energy to the normally open type single friction plate electromagnetic brake 9. The buffering energy-absorbing unit 6 is matched with the energy-absorbing impact rod 5 to further absorb the inertia potential energy generated by the optical load 2 due to the speed.

Fig. 1 is a schematic diagram of a pitch axis of a theodolite carrying the anti-runaway electromechanical protection system, wherein an optical load 2 is carried in the middle of a U-shaped frame 1 of the pitch axis of the theodolite, and is supported by a pitching left main shaft 4 and a pitching right main shaft 8 which are arranged on two sides of the U-shaped frame 1, and is driven by a driving motor 3 arranged on the pitching left main shaft 4 to perform pitching rotation motion or braking motion.

Fig. 2 is an installation schematic diagram of a normally open type single-friction-plate electromagnetic brake 9. The normally open type single friction plate electromagnetic brake 9 comprises an electromagnetic brake stator support frame 7, an electromagnetic brake rotor support frame 12, a brake stator 91, a brake armature 92, a plate-shaped deformation spring 93 and an electromagnetic brake spacer ring 11. An electromagnetic brake stator support frame 7 is mounted on the theodolite frame 20, a brake stator 91 is mounted on the electromagnetic brake stator support frame 7 by screws, and plate-shaped deformation springs 93 are respectively connected with a brake armature 92 and an electromagnetic brake rotor support frame 12 from the left and right sides by screws. An electromagnetic brake space ring 11 and an electromagnetic brake rotor support frame 12 are connected to the outer side of the pitching right main shaft 8 through screws. The thickness of the spacing ring 11 of the electromagnetic brake is repaired to ensure that the brake clearance a of the normally open type single-friction-plate electromagnetic brake 9 meets the use requirement of a product. The external cable of the brake stator 91 is connected with the control power supply 10, so that power supply of the normally open type single-friction-plate electromagnetic brake 9 during braking is ensured.

Fig. 3a is a schematic diagram of a normally open state of the normally open type single-friction-plate electromagnetic brake 9, and fig. 3b is a schematic diagram of a closed state of the normally open type single-friction-plate electromagnetic brake 9. When a galloping condition occurs, the control system utilizes the control power supply 10 to electrify the normally-open single-friction-plate electromagnetic brake 9, electromagnetic force is generated between the brake stator 91 and the brake armature 92, the plate-shaped deformation spring 93 is deformed, the brake stator 91 and the brake armature 92 finish attraction, attraction force is generated on the surfaces of the brake stator 91 and the brake armature 92, and a part of inertia potential energy generated by the optical load 2 due to speed can be absorbed.

Fig. 4 is a schematic view of the installation of the buffering energy-absorbing unit 6 of the invention, wherein an energy-absorbing ram 5 is installed on the outer side of the pitching left main shaft 4, and two sets of buffering energy-absorbing units 6 matched with the energy-absorbing ram 5 are installed on the theodolite frame 20. Two groups of buffering energy absorption units 6 are arranged on the theodolite frame 20 and are positioned on two sides of the pitching left main shaft 4. The buffering energy-absorbing unit 6 comprises a limiting seat 13, an impact head 14, an energy-absorbing spring 15, a shaft cover 16, a locking nut 17, an adjusting threaded sleeve 18 and an energy-absorbing cushion 19.

The energy-absorbing cushion 19 is arranged in the cavity of the limit seat 13, the energy-absorbing spring 15 is sleeved in the cavity of the limit seat 13, and the collision head 14 is sleeved at the upper end of the energy-absorbing spring 15. The shaft cover 16 covers the upper end of the limiting seat 13, and the energy-absorbing spring 15 and the collision head 14 are limited in the cavity of the limiting seat 13. The shaft head part of the collision head 14 extends out through the central through hole of the adjusting screw sleeve 18, the adjusting screw sleeve 18 is screwed into the shaft cover 16 by utilizing the thread matching between the shaft cover 16 and the adjusting screw sleeve 18 and is pressed on the upper side end surface of the collision head 14, the height of the collision head 14 extending out of the limit seat 13 can be adjusted by adjusting the thread matching position between the shaft cover 16 and the adjusting screw sleeve 18, and the position of the energy-absorbing collision rod 5 colliding with the collision head 14 is further controlled. The thread matching position between the shaft cover 16 and the adjusting threaded sleeve 18 is adjusted, and the thread matching position is locked by the locking nut 17 after the optical load 2 carried by the pitching shaft of the theodolite can meet the requirement of the rotation angle. When the optical load 2 drives the pitching left main shaft 4 to rotate, so that the energy absorption impact rod 5 is in contact with the impact head 14, the impact head 14 is compressed towards the cavity of the limiting seat 13, the energy absorption spring 15 is further compressed to absorb a part of inertia potential energy generated by the optical load 2 due to the speed, and when the energy absorption spring 15 is compressed to the bottom due to the compression of the impact head 14 towards the cavity of the limiting seat 13, the end face of the bottom of the impact head 14 is in contact with the energy absorption cushion 19, and the energy absorption cushion 19 is compressed to absorb the inertia potential energy.

The present invention sets the angle between the center lines of the two collision heads 14 to 2 θ₁The arrangement can ensure that the upper and lower inclined surfaces of the energy-absorbing impact rod touch the impact head in a geometric relationship vertical to the central line of the impact head, the impact head only bears larger axial pressure at the impact moment, and smoothly moves downwards along the central line to compress the spring to transfer energy to the spring without generating tangential force in the radial direction, and the design can better protect the buffering energy-absorbing unit and the theodolite.

When a galloping condition occurs, the control system utilizes the control power supply 10 to electrify the normally-open single-friction-plate electromagnetic brake 9, electromagnetic force is generated between the brake stator 91 and the brake armature 92, the plate-shaped deformation spring 93 is deformed, the brake stator 91 and the brake armature 92 finish attraction, attraction force is generated on the surfaces of the brake stator 91 and the brake armature 92, and a part of inertia potential energy generated by the optical load 2 due to speed can be absorbed. Meanwhile, when the optical load 2 drives the left pitching main shaft 4 to further rotate, so that the energy absorption impact rod 5 is in contact with the impact head 14, the impact head 14 is compressed into the cavity of the limiting seat 13, the energy absorption spring 15 is further compressed to absorb a part of inertia potential energy generated by the optical load 2 due to the speed, when the energy absorption spring 15 is compressed to the bottom due to the compression of the impact head 14 into the cavity of the limiting seat 13, the end face of the bottom of the impact head 14 is in contact with the energy absorption cushion 19, the energy absorption cushion 19 is compressed to absorb the inertia potential energy, and the braking energy absorption of the electromagnetic brake and the further compression energy absorption of the spring are also carried out.

The energy relation existing when the anti-runaway electromechanical protection system works is analyzed and calculated.

The limit working angles at two sides of the pitch axis of the theodolite are designed to be theta₀And (180 ° + θ)₀) And absorb energyThe included angle between the upper inclined surface and the lower inclined surface of the rod and the horizontal axis is set to be theta₀(ii) a The angles of the pitching axes of the theodolite when the energy-absorbing impact bar 5 impacts the impact heads 14 at the two sides are respectively-theta₁And (180 ° + θ)₁) The angles of the pitching axes of the theodolite when the bottom end surfaces of the two side collision heads 14 are contacted with the energy-absorbing cushion pad 19 are respectively-theta₂And (180 ° + θ)₂) The angles of the pitching axes of the theodolite when the energy-absorbing cushions 19 on the two sides are compressed to the extreme positions are respectively-theta₃And (180 ° + θ)₃)。

Taking the galloping with the pitch axis of the theodolite on one side as an example, when the pitch axis of the theodolite reaches the limit working angle theta₀When the rotating angular speed of the pitching shaft of the theodolite just reaches the boundary condition omega of the galloping_maxAt this time, the inertial potential energy carried by the theodolite optical load 2 is the largest, and the braking distance of the anti-runaway electromechanical protection system is the shortest, so that the state can be considered as the limit braking state. And the optical load 2 needs to meet the requirement of stable braking in the limit braking state when the anti-runaway electromechanical protection system is designed.

As shown in fig. 5, it is assumed that the servo control system de-energizes the drive motor 3 by the reversing solenoid valve and does not provide a reverse brake power supply for the drive motor 3 when flying, and performs braking in the limit brake state under this condition. At this time, the optical load 2 is most severe in the brake-off condition, and the corresponding energy relationship analysis and calculation are as follows.

Suppose the moment of inertia of the optical load 2 about the pitch axis is J_maxThen, the inertia potential energy possessed by the optical load 2 during flying is:

the closing friction moment of the normally open type single-friction-plate electromagnetic brake 9 is M_d. The brake is always in a suction brake state from the beginning of braking to the stopping of braking, and the brake angle is (theta)₃-2θ₀). The inertial potential energy of the optical load 2 that can be absorbed by the actuator is:

Q₁＝M_d·(θ₃-2θ₀)

the energy-absorbing spring 15 has a braking angle (theta) from the beginning of braking to the stopping of braking₃-θ₁) The pitch axis center distance from the impact head 14 is L_tBased on the geometric relationship, the braking distance of the energy-absorbing spring 15 is as follows:

X_t≈sin(θ₃-θ₁)·L_t

assuming that the stiffness of the energy absorbing spring 15 is k_tThen, the inertial potential energy of the optical load 2 absorbable by the energy-absorbing spring 15 is:

and the braking angle of the energy-absorbing cushion 19 from the start of braking to the stop of braking is (theta)₃-θ₂) The corresponding braking distance is as follows:

X_d≈sin(θ₃-θ₂)·L_t

assuming the stiffness of the energy absorbing cushion 19 is k_dThen the inertial potential energy of the optical load 2 absorbed by the energy-absorbing cushion 19 is:

according to the conservation of energy, when Q is_max≈Q₁+Q₂+Q₃In the process, the optical load can be considered to be stably braked and stopped when the anti-runaway electromechanical protection system is in the most severe braking state, and the anti-runaway electromechanical protection system can be designed and applied according to the formula.