Two-shaft four-frame rotary table, photoelectric tracking and pointing device and assembling and adjusting method of photoelectric tracking and pointing device

Abstract

The invention relates to the technical field of photoelectric tracking and pointing devices, and discloses a two-shaft four-frame rotary table, a photoelectric tracking and pointing device and an installation and adjustment method of the photoelectric tracking and pointing device. The outer orientation frame is connected with the base through an outer orientation shaft system in an orientation adjustable manner; the outer pitching frame is connected with the outer orientation frame through an outer pitching shaft system in a pitching adjusting manner; the inner pitching frame is connected with the outer pitching frame through an inner pitching shaft system in a pitching adjusting manner; the inner azimuth frame is connected with the inner pitching frame through an inner azimuth shaft system in an azimuth adjustable manner; wherein the inner pitch axis system is directly, coaxially and fixedly connected with the outer pitch axis system. The inner pitching shaft system is directly, coaxially and fixedly connected with the outer pitching shaft system, so that the utilization rate of the internal space of the two-shaft four-frame rotary table is improved, weight balance is facilitated, and the size and the weight are optimized. And the two-shaft four-frame rotary table obtained by adopting the assembling and adjusting method has high-precision coaxiality.

Description

Technical Field

[0001] The present invention relates to the technical field of optoelectronic tracking and aiming devices, and in particular to a two-axis four-frame turntable, an optoelectronic tracking and aiming device and an assembly and adjustment method thereof. Background Art

[0002] The two-axis four-frame turntable is a high-precision stable platform used in motion systems. It is often installed in UAV systems to capture, track and measure ground or air targets.

[0003] The two-axis four-frame turntable solves the problem of loss of stability due to excessive error when the pitch angle of the two-axis two-frame turntable is over the top. Due to the influence of external environmental factors such as airflow and wind load, the two-axis four-frame turntable continues to develop in the direction of small size and light weight. The traditional two-axis four-frame turntable is a structural form of "external azimuth-external pitch-inner azimuth-inner pitch" with azimuth and pitch interlaced connection, such as Figure 1 As shown. The four sets of shaft systems are not related to each other, and the four frames are connected to the shaft system in a "nesting doll-like" structure, and there must be space between the frames for the motor and the encoder to be installed. Its advantage is that it is relatively easy to install and adjust, but its disadvantage is that it is large in size and heavy in weight.

[0004] Therefore, the two-axis four-frame turntable still has room for improvement in terms of improving the internal space utilization of the two-axis four-frame turntable, improving weight balance, and optimizing volume and weight. Summary of the invention

[0005] Based on this, it is necessary to provide a two-axis four-frame turntable, an optoelectronic tracking and aiming device and an assembly method thereof to address the existing problems, in order to improve or solve at least one of the above problems.

[0006] The first aspect of the present application provides a two-axis four-frame turntable, comprising:

[0007] Base;

[0008] An external orientation frame, connected to the base in an orientation-adjustable manner via an external orientation axis system;

[0009] an external pitch frame, connected to the external azimuth frame in pitch-adjustable manner via an external pitch axis system;

[0010] An inner pitch frame, connected to the outer pitch frame in a pitch-adjustable manner via an inner pitch axis system;

[0011] An inner azimuth frame, connected to the inner pitch frame in an azimuthally adjustable manner via an inner azimuth axis system;

[0012] Wherein, the inner pitch axis system is directly coaxially and fixedly connected with the outer pitch axis system.

[0013] In some embodiments, the external azimuth frame includes a first column portion, a beam portion, and a second column portion that are sequentially fixedly connected to form a U-shaped frame, the external azimuth axis system is rotatably connected to the beam portion, and the external pitch axis system includes:

[0014] An outer pitch fixed axis system, comprising an outer pitch fixed semi-axis that rotates only relative to the outer azimuth frame and the outer pitch frame, and the outer pitch fixed semi-axis is connected to the first column part;

[0015] The outer pitch floating axis system includes an outer pitch floating half-axis that rotates relative to the outer azimuth frame and the outer pitch frame, the outer pitch floating half-axis is connected to the second column part, the outer pitch floating half-axis is coaxial with the outer pitch fixed half-axis, and the outer pitch floating half-axis can also move a short distance along its own axis relative to the outer azimuth frame or the outer pitch frame to release deformation or jamming caused by stress concentration.

[0016] In some embodiments, the inner pitch axis system includes:

[0017] An inner pitch fixed axis system, comprising an inner pitch fixed semi-axis that rotates only relative to the outer pitch frame and the inner pitch frame;

[0018] The inner pitch movable axis system includes an inner pitch movable half-axis that rotates relative to the outer pitch frame and the inner pitch frame, and the inner pitch movable half-axis can also move a short distance along its own axis relative to the outer pitch frame or the inner pitch frame to release deformation or jamming caused by stress concentration.

[0019] In some embodiments, the inner pitch fixed semi-axis and the outer pitch movable semi-axis are located on one side of the inner orientation frame in the horizontal direction, and the inner pitch movable semi-axis and the outer pitch fixed semi-axis are located on the other side of the inner orientation frame in the horizontal direction.

[0020] In some embodiments, the outer pitch floating semi-axis, the inner pitch fixed semi-axis, the inner pitch floating semi-axis and the outer pitch fixed semi-axis are coaxially arranged.

[0021] In some embodiments, the inner pitch fixed half-shaft and the outer pitch floating half-shaft are detachably coaxially fixedly connected by a first screw and a first pin; the inner pitch floating half-shaft and the outer pitch fixed half-shaft are detachably coaxially fixedly connected by a second screw and a second pin;

[0022] Among them, the outer pitch movable half-axis, the inner pitch fixed half-axis, the inner pitch movable half-axis, the outer pitch fixed half-axis, the outer pitch frame and the inner pitch frame are respectively coaxially provided with a first axis hole for passing a first coaxial axis tooling.

[0023] In some embodiments, the inner orientation axis system includes:

[0024] An inner azimuth fixed axis system, comprising an inner azimuth fixed axis that rotates only relative to the inner pitch frame and the inner azimuth frame;

[0025] The inner azimuth floating axis system includes an inner azimuth floating axis that rotates relative to the inner pitch frame and the inner azimuth frame, and the inner azimuth floating axis can also move a short distance relative to the inner azimuth frame or the inner azimuth frame along its own axis to release deformation or jamming caused by stress concentration.

[0026] In some embodiments, the inner fixed axis system, the inner movable axis system, and the outer axis system are coaxially arranged;

[0027] Among them, the inner position fixed shaft system, the inner position movable shaft system and the inner position frame are respectively coaxially provided with a second shaft hole for passing a second coaxial shaft tooling.

[0028] A second aspect of the present application provides a method for assembling and adjusting a two-axis four-frame turntable, comprising:

[0029] Preliminarily assemble the base and the external azimuth axis system to form a base assembly;

[0030] The outer pitch axis system and the inner pitch axis system are coaxially preassembled and coaxially marked by using the first coaxial axis tooling, and then disassembled to the initial state for standby use;

[0031] Preliminarily assemble the external pitch axis system, the external pitch frame, and the external azimuth frame to form an external pitch assembly;

[0032] The inner pitch axis system and the inner pitch frame are separately used as components through a first pre-assembly to form a pre-assembled inner pitch assembly, and then disassembled to an initial state for standby use; wherein the first pre-assembly includes ensuring the coaxiality of the inner pitch axis system by inserting a first coaxial shaft tool, then positioning the pins, and making coaxial assembly marks;

[0033] The inner orientation shaft system and the inner orientation frame are separately used as components through a second pre-assembly to form a pre-assembled inner orientation assembly, and then disassembled to an initial state for standby use; wherein the second pre-assembly includes positioning pins after ensuring the coaxiality of the inner orientation shaft system by inserting a second concentric shaft tooling, and making coaxial assembly marks;

[0034] Preliminarily assemble the outer pitch assembly with the inner pitch axis system and inner pitch frame with coaxial assembly marks to form an inner and outer pitch assembly;

[0035] Preliminarily assemble the inner and outer pitch combination and the inner azimuth axis system and inner azimuth frame with coaxial assembly marks to form an upper turntable assembly;

[0036] The base assembly and the upper turntable assembly are assembled to form a two-axis four-frame turntable.

[0037] A third aspect of the present application provides an optoelectronic tracking and aiming device, which includes the two-axis four-frame turntable provided in any of the above embodiments, or a two-axis four-frame turntable obtained by the above-mentioned two-axis four-frame turntable assembly and adjustment method.

[0038] Beneficial effects of the present invention:

[0039] The two-axis four-frame turntable of the present invention comprises a base, an outer azimuth frame is connected to the base in an azimuth-adjustable manner through an outer azimuth axis system, an outer pitch frame is connected to the outer azimuth frame in an azimuth-adjustable manner through an outer pitch axis system, an inner pitch frame is connected to the outer pitch frame in an azimuth-adjustable manner through an inner pitch axis system; an inner azimuth frame is connected to the inner pitch frame in an azimuth-adjustable manner through an inner azimuth axis system; and the inner pitch axis system is directly coaxially fixedly connected to the outer pitch axis system. It adopts the design structure of "external azimuth-external pitch-inner pitch-inner azimuth", thereby making efficient use of the volume space between the outer pitch frame and the inner pitch frame, and is directly coaxially fixedly connected to the outer pitch axis system through the inner pitch axis system, which is conducive to improving the internal space utilization rate of the two-axis four-frame turntable; the design structure of "external azimuth-external pitch-inner pitch-inner azimuth" is conducive to weight balance and optimization of volume and weight.

[0040] The assembly and adjustment method of the two-axis four-frame turntable of the present invention adopts the method of assembly unit division, pre-assembly and assembly of each unit to complete the assembly and adjustment of the entire two-axis four-frame turntable. The accuracy of each module can be improved by module and unit assembly. The pre-assembly marking method can make high coaxiality marks to facilitate the coaxiality adjustment of subsequent combined assembly. Therefore, the two-axis four-frame turntable obtained by the assembly and adjustment method has high-precision coaxiality. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic diagram of the structure of "external azimuth-external pitch-internal azimuth-internal pitch" of a two-axis four-frame turntable in the related art;

[0043] Figure 2 A schematic diagram of the structure of a two-axis four-frame turntable provided for an embodiment of the present application;

[0044] Figure 3A schematic diagram of an assembly and adjustment method of a two-axis four-frame turntable provided in an embodiment of the present application;

[0045] Figure 4 A comparative schematic diagram of a fixed shaft located on the left side of the figure and a movable shaft located on the right side of the figure provided for an embodiment of the present application;

[0046] Figure 5 A diagram showing a left pitch semi-axis combination consisting of an outer pitch fixed semi-axis and an inner pitch floating semi-axis provided in an embodiment of the present application;

[0047] Figure 6 A diagram showing a right pitch semi-axis combination consisting of an outer pitch floating semi-axis and an inner pitch fixed semi-axis provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a first coaxial shaft tooling provided in an embodiment of the present application passing through an outer pitch shaft system and an inner pitch shaft system;

[0049] Figure 8 A schematic diagram of the external pitch adjustment in the adjustment method provided in the embodiment of the present application;

[0050] Fig. 9 A schematic diagram of the internal pitch adjustment in the adjustment method provided in the embodiment of the present application;

[0051] Fig.10 A schematic diagram of the pre-installation of the inner position combination in the installation method provided in the embodiment of the present application;

[0052] Fig.11 A schematic diagram of an upper turntable assembly in the installation and adjustment method provided in an embodiment of the present application;

[0053] Fig.12 A schematic diagram of a base assembly in an installation and adjustment method provided in an embodiment of the present application;

[0054] Fig.13 A schematic diagram of the final two-axis four-frame turntable in the assembly and adjustment method provided in the embodiment of the present application.

[0055] Reference numerals:

[0056] 001, first concentric shaft tooling;

[0057] 1. Base; 2. External azimuth axis system; 3. U-shaped frame; 4. External pitch movable axis system; 401, external pitch movable semi-axis; 5. External pitch fixed axis system; 501, external pitch fixed semi-axis; 6. External pitch frame; 7. Internal pitch fixed axis system; 701, internal pitch fixed semi-axis; 8. Internal pitch movable axis system; 801, internal pitch movable semi-axis; 9. Internal pitch frame; 10. Internal azimuth fixed axis system; 11. Internal azimuth movable axis system; 12. Internal azimuth frame;

[0058] 21. Left pitch semi-axis combination; 22. Right pitch semi-axis combination; 23. Combination matching; 24. External pitch combination; 25. Internal pitch combination; 26. Internal azimuth combination; 27. Internal and external pitch combination; 28. Upper turntable combination; 29. ​​Base assembly. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a feature "above" or "below" a second feature may be in direct contact with the second feature, or in indirect contact with the second feature through an intermediate medium. Moreover, a feature "above", "above" and "above" a second feature may mean that the feature is directly above or obliquely above the second feature, or simply means that the feature is higher in level than the second feature. A feature "below", "below" and "below" a second feature may mean that the feature is directly below or obliquely below the second feature, or simply means that the feature is lower in level than the second feature.

[0064] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0065] refer to Figure 2 The embodiment of the present application provides a two-axis four-frame turntable, which includes a base 1, an external azimuth frame, an external azimuth axis system 2, an external pitch frame 6, an external pitch axis system, an internal pitch frame 9, an internal pitch axis system, an internal azimuth frame 12, and an internal azimuth axis system. The external azimuth frame is connected to the base 1 in an azimuthally adjustable manner via the external azimuth axis system 2; the external pitch frame 6 is connected to the external azimuth frame in an azimuthally adjustable manner via the external pitch axis system; the internal pitch frame 9 is connected to the external pitch frame 6 in an azimuthally adjustable manner via the internal pitch axis system; the internal azimuth frame 12 is connected to the internal pitch frame 9 in an azimuthally adjustable manner via the internal azimuth axis system; wherein the internal pitch axis system is directly coaxially fixedly connected to the external pitch axis system.

[0066] The embodiment of the present application provides a two-axis four-frame turntable in which the outer azimuth frame is connected to the base 1 in an azimuthally adjustable manner through the outer azimuth axis system 2, the outer pitch frame 6 is connected to the outer azimuth frame in an azimuthally adjustable manner through the outer pitch axis system, the inner pitch frame 9 is connected to the outer pitch frame 6 in an azimuthally adjustable manner through the inner pitch axis system; the inner azimuth frame 12 is connected to the inner pitch frame 9 in an azimuthally adjustable manner through the inner azimuth axis system; the inner pitch axis system is directly coaxially fixedly connected to the outer pitch axis system. It adopts the design structure of "external azimuth-external pitch-inner pitch-inner azimuth", thereby making efficient use of the volume space between the outer pitch frame 6 and the inner pitch frame 9, and the inner pitch axis system is directly coaxially fixedly connected to the outer pitch axis system, which is conducive to improving the internal space utilization rate of the two-axis four-frame turntable; the design structure of "external azimuth-external pitch-inner pitch-inner azimuth" is conducive to weight balance and optimization of volume and weight.

[0067] In some embodiments, reference Figure 2, Figure 5-7 The outer azimuth frame includes a first column portion, a crossbeam portion, and a second column portion which are fixedly connected in sequence to form a U-shaped frame 3. The outer azimuth axis system 2 is rotatably connected to the crossbeam portion. The outer pitch axis system includes an outer pitch fixed axis system 5 and an outer pitch floating axis system 4. The outer pitch fixed axis system 5 includes an outer pitch fixed semi-axis 501 which rotates only relative to the outer azimuth frame and the outer pitch frame 6, and the outer pitch fixed semi-axis 501 is connected to the first column portion; the outer pitch floating axis system 4 includes an outer pitch floating semi-axis 401 which rotates relative to the outer azimuth frame and the outer pitch frame 6, and the outer pitch floating semi-axis 401 is connected to the second column portion. The outer pitch floating semi-axis 401 is coaxial with the outer pitch fixed semi-axis 501, and the outer pitch floating semi-axis 401 can also move a short distance along its own axis relative to the outer azimuth frame or the outer pitch frame 6 to release deformation or jamming caused by stress concentration. The design structure of the external pitch fixed axis system 5 and the external pitch floating axis system 4 allows one end to be fixed in the axial direction and the axial direction of the other end to be properly obtained, which is conducive to releasing deformation or jamming caused by stress concentration during high and low temperatures or movement.

[0068] In some embodiments, reference Figure 2 , Figure 4-7 , the inner pitch axis system includes an inner pitch fixed axis system 7 and an inner pitch floating axis system 8. The inner pitch fixed axis system 7 includes an inner pitch fixed semi-axis 701 that rotates only relative to the outer pitch frame 6 and the inner pitch frame 9; the inner pitch floating axis system 8 includes an inner pitch floating semi-axis 801 that rotates relative to the outer pitch frame 6 and the inner pitch frame 9, and the inner pitch floating semi-axis 801 can also move a short distance along its own axis relative to the outer pitch frame 6 or the inner pitch frame 9 to release deformation or jamming caused by stress concentration. The design structure of the inner pitch fixed axis system 7 and the inner pitch floating axis system 8 allows one end to be fixed in the axial direction, and the axial direction of the other end can be properly obtained, which is conducive to releasing deformation or jamming caused by stress concentration during high and low temperature or movement.

[0069] In some embodiments, reference Figure 2 , Figure 4-7 The inner pitch fixed semi-axis 701 and the outer pitch floating semi-axis 401 are located on one side of the inner azimuth frame 12 in the horizontal direction, and the inner pitch floating semi-axis 801 and the outer pitch fixed semi-axis 501 are located on the other side of the inner azimuth frame 12 in the horizontal direction. This design is conducive to the inner pitch frame 9 and the outer pitch frame 6 to move appropriately to both sides relative to the corresponding outer pitch floating semi-axis 401 and the inner pitch floating semi-axis 801 in a more balanced manner, so as to release the deformation or stagnation caused by the stress concentration of the corresponding structure during high and low temperature or movement.

[0070] In some embodiments, reference Figure 2 , Figure 4-7 , Fig.11 and Fig.13The outer pitch movable semi-axis 401, the inner pitch fixed semi-axis 701, the inner pitch movable semi-axis 801 and the outer pitch fixed semi-axis 501 are coaxially arranged, so that the pitch adjustment of the inner orientation frame 12 can be triggered only by the need to adjust the pitch angle.

[0071] In some embodiments, reference Figure 2 , Figure 4-7 , Fig.11 and Fig.13 The inner pitch fixed half-shaft 701 and the outer pitch movable half-shaft 401 are detachably coaxially fixedly connected by a first screw and a first pin; the inner pitch movable half-shaft 801 and the outer pitch fixed half-shaft 501 are detachably coaxially fixedly connected by a second screw and a second pin; wherein, the outer pitch movable half-shaft 401, the inner pitch fixed half-shaft 701, the inner pitch movable half-shaft 801, the outer pitch fixed half-shaft 501, the outer pitch frame 6 and the inner pitch frame 9 are respectively coaxially provided with a first axis hole for passing the first coaxial axis tooling 001.

[0072] By opening the first axial hole, during the pre-assembly stage of the inner pitch fixed half-axis 701, the outer pitch movable half-axis 401, the inner pitch frame 9, the outer pitch frame 6, etc., the first coaxial fixation can be achieved by simultaneously penetrating the first axial holes with the help of the first concentric axis tooling 001, and then the first screw and the first pin can be fixedly connected. After that, marking can be performed. In this way, when the components are disassembled and assembled, there will be coaxial marking guidance, which is conducive to the subsequent high-precision coaxial assembly.

[0073] In some embodiments, reference Figure 2 , Figure 4-11 and Fig.13 , the inner azimuth axis system includes an inner azimuth fixed axis system 10 and an inner azimuth floating axis system 11. The inner azimuth fixed axis system 10 includes an inner azimuth fixed axis that rotates only relative to the inner pitch frame 9 and the inner azimuth frame 12; the inner azimuth floating axis system 11 includes an inner azimuth floating axis that rotates relative to the inner pitch frame 9 and the inner azimuth frame 12, and the inner azimuth floating axis can also move a short distance relative to the inner azimuth frame 12 or along its own axis of the inner azimuth frame 12 to release deformation or stagnation caused by stress concentration. Similarly, one of the inner azimuth fixed axis system 10 and the inner azimuth floating axis system 11 cannot move axially, while the other can move, which helps to release deformation or stagnation caused by stress concentration in the corresponding structure during high and low temperature or movement.

[0074] In some embodiments, reference Figure 2 , Figure 4-11 and Fig.13The inner fixed shaft system 10, the inner movable shaft system 11, and the outer shaft system 2 are coaxially arranged; wherein the inner fixed shaft system 10, the inner movable shaft system 11, and the inner frame 12 are coaxially provided with second shaft holes for inserting the second coaxial shaft tooling. The principle is the same as that of the above-mentioned embodiment, and the coaxiality of the subsequent overall assembly can be improved by pre-assembly and marking, and the details are not repeated.

[0075] As described above, the two-axis four-frame turntable of the embodiment of the present application is a "external azimuth-external pitch-inner pitch-inner azimuth" structure, such as Figure 2 The inner pitch axis and the outer pitch axis are directly coaxially fixedly connected. Its special structural method greatly improves the internal space utilization rate, and the weight is balanced, and the volume and weight are significantly optimized. However, the disadvantage is that the coaxially fixed inner pitch dimension chain is too long, and it is difficult to assemble and adjust with high precision requirements. For this purpose, the present invention also provides an assembly method of a two-axis four-frame turntable. The specific steps of high-precision assembly and adjustment will be further introduced below.

[0076] Specifically, refer to Figure 2-13 The embodiment of the present application further provides a method for assembling and adjusting a two-axis four-frame turntable, which comprises:

[0077] Step S1, preliminarily assembling the base 1 and the external azimuth axis system 2 to form a base assembly 29;

[0078] Step S2, the outer pitch axis system and the inner pitch axis system are coaxially preassembled and coaxially marked by using the first coaxial axis tooling 001, and then disassembled to the initial state for standby use;

[0079] Step S3, preliminarily assembling the external pitch axis system, the external pitch frame 6, and the external azimuth frame to form an external pitch assembly 24;

[0080] Step S4, the inner pitch axis system and the inner pitch frame 9 are separately used as components through a first pre-assembly to form a pre-assembled inner pitch assembly 25, and then disassembled to an initial state for standby use; wherein the first pre-assembly includes ensuring the coaxiality of the inner pitch axis system by inserting a first coaxial axis tool 001, then positioning the pins, and making coaxial assembly marks;

[0081] Step S5, the inner orientation axis system and the inner orientation frame 12 are separately pre-assembled as components to form a pre-assembled inner orientation assembly 26, and then disassembled to the initial state for standby; wherein the second pre-assembly includes positioning the pins after ensuring the coaxiality of the inner orientation axis system by inserting a second concentric axis tooling, and making coaxial assembly marks;

[0082] Step S6, preliminarily assembling the outer pitch assembly 24 with the inner pitch axis system and the inner pitch frame 9 with coaxial assembly marks to form an inner and outer pitch assembly 27;

[0083] Step S7, preliminarily assemble the inner and outer pitch assembly 27, the inner azimuth axis system with coaxial assembly marks, and the inner azimuth frame 12 to form an upper turntable assembly 28;

[0084] Step S8, assembling the base assembly 29 and the upper turntable assembly 28 to form a two-axis four-frame turntable.

[0085] The assembly and adjustment method of the two-axis four-frame turntable provided in the above-mentioned embodiment of the present application adopts the method of assembly unit division, pre-assembly and assembly of each unit to complete the assembly and adjustment of the entire two-axis four-frame turntable. The accuracy of each module can be improved by module and unit assembly. The pre-assembly marking method can make high coaxiality marks to facilitate the coaxiality adjustment of subsequent combined assembly. Therefore, the two-axis four-frame turntable obtained by its assembly and adjustment method has high-precision coaxiality.

[0086] In addition, the specific structures of the base 1, the external azimuth axis system 2, the external pitch axis system, the external pitch frame 6, the external azimuth frame, the internal pitch axis system, the internal pitch frame 9, the internal azimuth axis system, and the internal azimuth frame 12 and the corresponding assembly can be the structures mentioned in any embodiment of the above-mentioned two-axis four-frame turntable, and the assembly method will not be repeated.

[0087] Explanatory, Figure 4 A comparative schematic diagram of a fixed shaft located on the left side of the figure and a movable shaft located on the right side of the figure provided for an embodiment of the present application; Figure 4 This is the same explanation for all shaft systems in this application that have a fixed shaft and a movable shaft.

[0088] Further, refer to Figure 2 and Figure 5-7 The above step S2 of pre-assembling the outer pitch axis system and the inner pitch axis system coaxially with the help of the first coaxial axis tooling 001 and marking them coaxially, and then disassembling them to the initial state for standby use, includes the following steps:

[0089] The inner pitch fixed semi-axis 701 and the outer pitch floating semi-axis 401 are combined to form a left pitch semi-axis combination 21;

[0090] The inner pitch movable semi-axis 801 and the outer pitch fixed semi-axis 501 are combined to form a right pitch semi-axis combination 22;

[0091] The through-axis is combined and matched 23 with the left pitch semi-axis combination 21 and the right pitch semi-axis combination 22; wherein, the through-axis is combined and matched 23 with the left pitch semi-axis combination 21 and the right pitch semi-axis combination 22 includes synchronously passing the first coaxial shaft tooling 001 through the first shaft holes of the left pitch semi-axis combination 21 and the right pitch semi-axis combination 22 to achieve coaxial matching; in the figure, the through-axis is the first coaxial shaft tooling 001; the inner pitch fixed semi-axis 701 and the outer pitch floating semi-axis 401 are detachably and coaxially fixedly connected by the first screw and the first pin, and are marked; the inner pitch floating semi-axis 801 and the outer pitch fixed semi-axis 501 are detachably and coaxially fixedly connected by the second screw and the second pin, and are marked;

[0092] The inner pitch fixed half-shaft 701, the outer pitch movable half-shaft 401, the inner pitch movable half-shaft 801 and the outer pitch fixed half-shaft 501 are respectively disassembled to their initial states for use.

[0093] In addition, an embodiment of the present application further provides an optoelectronic tracking and aiming device, which includes a two-axis four-frame turntable of any of the above embodiments, and the specific advantages are not repeated here.

[0094] Finally, it should be noted that the various technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The above embodiment only expresses one implementation of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the attached claims.

Claims

1. A two-axis four-frame turntable, characterized in that: include: Base (1); An external orientation frame, connected to the base (1) in an orientation-adjustable manner via an external orientation axis system (2); An external pitch frame (6) connected to the external azimuth frame in a pitch-adjustable manner via an external pitch axis system; An inner pitch frame (9) connected to the outer pitch frame (6) via an inner pitch axis system so as to be pitch-adjustable; An inner azimuth frame (12) connected to the inner pitch frame (9) in an azimuthally adjustable manner via an inner azimuth axis system; Wherein, the inner pitch axis system is directly coaxially fixedly connected with the outer pitch axis system.

2. The two-axis four-frame turntable according to claim 1, characterized in that: The external azimuth frame comprises a first column portion, a crossbeam portion, and a second column portion which are fixedly connected in sequence to form a U-shaped frame (3); the external azimuth axis system (2) is rotatably connected to the crossbeam portion; and the external pitch axis system comprises: An external pitch fixed axis system (5), comprising an external pitch fixed semi-axis (501) that rotates only relative to the external azimuth frame and the external pitch frame (6), and the external pitch fixed semi-axis (501) is connected to the first column portion; The external pitch floating axis system (4) comprises an external pitch floating half-axis (401) that rotates relative to the external azimuth frame and the external pitch frame (6), the external pitch floating half-axis (401) being connected to the second column portion, the external pitch floating half-axis (401) being coaxial with the external pitch fixed half-axis (501), and the external pitch floating half-axis (401) being able to move a short distance along its own axis relative to the external azimuth frame or the external pitch frame (6) to release deformation or jamming caused by stress concentration.

3. The two-axis four-frame turntable according to claim 2, characterized in that: The inner pitch axis system comprises: An inner pitch fixed axis system (7), comprising an inner pitch fixed semi-axis (701) that rotates only relative to the outer pitch frame (6) and the inner pitch frame (9); The inner pitch movable axis system (8) comprises an inner pitch movable half axis (801) which rotates relative to the outer pitch frame (6) and the inner pitch frame (9), and the inner pitch movable half axis (801) can also move a short distance along its own axis relative to the outer pitch frame (6) or the inner pitch frame (9) to release deformation or jamming caused by stress concentration.

4. The two-axis four-frame turntable according to claim 3 is characterized in that: The inner pitch fixed semi-axis (701) and the outer pitch movable semi-axis (401) are located on one side of the inner orientation frame (12) in the horizontal direction, and the inner pitch movable semi-axis (801) and the outer pitch fixed semi-axis (501) are located on the other side of the inner orientation frame (12) in the horizontal direction.

5. The two-axis four-frame turntable according to claim 4, characterized in that: The outer pitch movable semi-axis (401), the inner pitch fixed semi-axis (701), the inner pitch movable semi-axis (801) and the outer pitch fixed semi-axis (501) are coaxially arranged.

6. The two-axis four-frame turntable according to claim 4, characterized in that: The inner pitch fixed half-shaft (701) and the outer pitch movable half-shaft (401) are detachably coaxially fixedly connected via a first screw and a first pin; the inner pitch movable half-shaft (801) and the outer pitch fixed half-shaft (501) are detachably coaxially fixedly connected via a second screw and a second pin; The outer pitch movable semi-axis (401), the inner pitch fixed semi-axis (701), the inner pitch movable semi-axis (801), the outer pitch fixed semi-axis (501), the outer pitch frame (6) and the inner pitch frame (9) are respectively coaxially provided with a first axis hole for passing a first coaxial axis tooling (001).

7. The two-axis four-frame turntable according to claim 2, characterized in that: The inner azimuth axis system includes: An inner azimuth fixed axis system (10), comprising an inner azimuth fixed axis that rotates only relative to the inner pitch frame (9) and the inner azimuth frame (12); The inner azimuth floating axis system (11) comprises an inner azimuth floating axis that rotates relative to the inner pitch frame (9) and the inner azimuth frame (12), and the inner azimuth floating axis can also move a short distance relative to the inner azimuth frame (12) or the inner azimuth frame (12) along its own axis to release deformation or jamming caused by stress concentration.

8. The two-axis four-frame turntable according to claim 7, characterized in that: The inner fixed shaft system (10), the inner movable shaft system (11), and the outer shaft system (2) are coaxially arranged; The inner fixed shaft system (10), the inner movable shaft system (11), and the inner frame (12) are respectively coaxially provided with a second shaft hole for passing a second coaxial shaft tooling.

9. A method for assembling and adjusting a two-axis four-frame turntable, characterized in that: include: Preliminarily assembling the base (1) and the outer azimuth shaft system (2) to form a base assembly (29); The outer pitch axis system and the inner pitch axis system are coaxially preassembled and coaxially marked by using a first coaxial axis tool (001), and then disassembled to an initial state for standby use; Preliminarily assembling the external pitch axis system, the external pitch frame (6), and the external azimuth frame to form an external pitch assembly (24); The inner pitch axis system and the inner pitch frame (9) are separately used as components through a first pre-assembly to form a pre-assembled inner pitch assembly (25), and then disassembled to an initial state for standby use; wherein the first pre-assembly includes ensuring the coaxiality of the inner pitch axis system by inserting a first coaxial shaft tool (001), then positioning the pins, and making coaxial assembly marks; The inner orientation shaft system and the inner orientation frame (12) are separately used as components through a second pre-assembly to form a pre-assembled inner orientation assembly (26), and then disassembled to an initial state for standby use; wherein the second pre-assembly includes ensuring the coaxiality of the inner orientation shaft system by inserting a second coaxial shaft tool, then positioning the pins, and making coaxial assembly marks; Preliminarily assembling the outer pitch assembly (24) with the inner pitch axis system and the inner pitch frame (9) with coaxial assembly marks to form an inner and outer pitch assembly (27); Preliminarily assembling the inner and outer pitch assembly (27) and the inner azimuth axis system and the inner azimuth frame (12) with coaxial assembly marks to form an upper turntable assembly (28); The base assembly (29) and the upper turntable assembly (28) are assembled to form a two-axis four-frame turntable.

10. An optoelectronic tracking and aiming device, characterized in that: A two-axis four-frame turntable comprising any one of claims 1-8, or a two-axis four-frame turntable obtained by the assembly method of claim 9.

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