Pose-adjustable collimator platform

Abstract

The invention relates to a pose-adjustable collimator platform, belongs to the technical field of optical detection, and is used for solving the problems of high external field detection cost and low precision of large-caliber and wide-view-field optical remote sensing equipment. The platform comprises a collimator, a frame, a multi-linkage lifting device and a course adjusting mechanism, and the multi-linkage lifting device is arranged on the frame and can move up and down relative to the frame; the course adjusting mechanism is arranged on the multi-linkage lifting device and can rotate around a shaft in the vertical direction relative to the multi-linkage lifting device; and the collimator is fixedly arranged on the course adjusting mechanism. The collimator platform is of an overall frame structure, small in size, light in weight and convenient to transport, the requirements for the caliber of the collimator and the size of a view field are reduced, then the production cost is reduced, the detection precision is improved, it is ensured that multiple optical indexes of optical remote sensing equipment are detected and calibrated accurately, and the collimator platform has wide application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical detection, and relates to a collimator platform with adjustable position and attitude. Background Art

[0002] A collimator is a key core device for the detection of optical remote sensing equipment, and is widely used in the alignment, detection and image quality evaluation of optical remote sensing equipment. It can detect and calibrate various optical indexes of an optical instrument, such as focal length, field of view, resolution and modulation transfer function. Ground detection work is related to important issues such as whether the optical remote sensor can work smoothly in orbit and whether it can complete the specified scientific research tasks.

[0003] In the existing detection equipment using a collimator, the collimator is mostly fixedly arranged on the workbench by a fixed bracket, and the optical remote sensing equipment to be detected is transported to the workbench for detection.

[0004] At present, optical remote sensing equipment is developing towards large aperture, high precision and wide field of view. Conventional detection methods are difficult to meet the increasing detection requirements of optical remote sensors. Especially for the detection of large-aperture and wide-field-of-view optical remote sensing equipment, it promotes the development of collimators towards large aperture and wide field of view, but this greatly increases the manufacturing difficulty and cost of collimators, and most units can hardly afford it. Therefore, for the detection requirements of large aperture and wide field of view, it is more economical to adopt the method of adjustable position and attitude for the collimator.

[0005] In addition, many optical remote sensing equipment have large volume or weight, high precision requirements, and slight deformation and misalignment during handling will lead to a reduction in precision. Moreover, there is also a large difference between the state of the equipment during detection and its actual use state, which will also lead to a reduction in detection precision. Therefore, it is necessary to design a device with adjustable position and attitude of the collimator that can be moved freely to meet the field detection requirements of large-aperture and wide-field-of-view optical remote sensing equipment. Summary of the Invention

[0006] In view of the above analysis, an embodiment of the present invention aims to provide a collimator platform with adjustable position and attitude to solve the problems of high cost and low precision in the field detection of large-aperture and wide-field-of-view optical remote sensing equipment.

[0007] On the one hand, the present invention provides a collimator platform with adjustable position and attitude, including a collimator, a frame, a multi-linkage lifting device and a heading adjustment mechanism. Among them, the multi-linkage lifting device is arranged on the frame and can move up and down relative to the frame; the heading adjustment mechanism is arranged on the multi-linkage lifting device and can rotate around an axis in the vertical direction relative to the multi-linkage lifting device; the collimator is fixedly arranged on the heading adjustment mechanism.

[0008] Further, the frame is a cubic frame structure formed by square steel pipes, including columns and cross beams. At least one handle is welded on the outer side of the cross beam. Two shock-absorbing casters are arranged at the bottom of each of the two cross beams in the length direction, and fixed feet are arranged at the bottom of each column.

[0009] Further, the multi-linkage lifting device includes a lifting drive structure and a lifting frame body, and the lifting drive structure drives the lifting frame body to move up and down.

[0010] Further, the lifting drive structure includes a first motor, a first steering and deceleration mechanism, a second steering and deceleration mechanism, and a plurality of first lead screw nut mechanisms. The first motor, the first steering and deceleration mechanism, and the second steering and deceleration mechanism are fixedly arranged on the frame. The plurality of first lead screw nut mechanisms are movably arranged on the frame. Each first lead screw nut mechanism includes a first lead screw and a first nut. The tops of the plurality of first lead screws are fixedly connected to the lifting frame body. The output end of the first motor drives the plurality of first lead screws to move up and down synchronously through the first steering and deceleration mechanism and the second steering and deceleration mechanism.

[0011] Further, the multi-linkage lifting device further includes a guide post, and the guide post is fixedly arranged on the lifting frame body. The lower part of the guide post is inserted into a guide sleeve arranged on the frame body, and the guide post can move up and down along the guide sleeve.

[0012] Further, the lifting frame body includes two top cross beams extending along the length direction of the frame, and at least two spaced vertical support beams vertically extending downward from the middle of each top cross beam, wherein the two vertical support beams are spaced apart; and diagonal support beams obliquely extending downward from near the ends of each top cross beam, wherein the bottom of each diagonal support beam is fixedly connected to the middle or the middle and lower part of the adjacent vertical support beam.

[0013] Further, the lifting frame body further includes a lifting platform, and the lifting platform is a rectangular frame or a rectangular flat plate. The two sides of the lifting platform are respectively fixedly connected to the bottoms of the vertical support beams.

[0014] Further, the course adjustment mechanism includes a course adjustment drive structure, a rotating platform, an I-shaped mounting plate, an arc-shaped guide rail, and a first slider.

[0015] Further, the I-shaped mounting plate is fixedly arranged on the lifting platform of the multi-linkage lifting device, and the heading adjustment driving structure is arranged on the I-shaped mounting plate. The heading adjustment driving structure includes a first handwheel, a second transmission rod, a worm, a worm gear and a bearing; the first handwheel is arranged at one end of the second transmission rod, the other end of the second transmission rod is provided with the worm, the worm meshes with the worm gear, the axis of the worm extends in the horizontal direction, and the axis of the worm gear extends in the vertical direction; the worm gear is arranged on the I-shaped mounting plate through the bearing; the rotating platform is fixedly connected to the top surface of the worm gear.

[0016] Further, the heading adjustment mechanism further includes an arc-shaped guide rail and a first slider; the arc-shaped guide rail is arranged on the I-shaped mounting plate, the first slider is correspondingly arranged at the bottom of the rotating platform, and the first slider can slide back and forth along the arc-shaped guide rail.

[0017] Further, a pitch adjustment mechanism is further included. The pitch adjustment mechanism is arranged on the heading adjustment mechanism and can rotate relative to the heading adjustment mechanism about an axis in the horizontal direction; the collimator is fixedly arranged on the pitch adjustment mechanism.

[0018] Further, the pitch adjustment mechanism includes an upper lug, a lower lug, a rotating shaft, a second screw-nut mechanism, a linear guide rail and a second slider.

[0019] Further, a test platform is further included. The test platform is located above the rotating platform. One side of the test platform is hinged to the rotating platform through the rotating shaft, and the other side of the test platform is connected to the rotating platform through the second screw-nut mechanism.

[0020] Further, the second screw-nut mechanism includes a second handwheel, a third transmission rod, a second nut and a second screw.

[0021] Further, the second handwheel is arranged on the rotating platform. The second handwheel drives the second nut to rotate through the third transmission rod. The second nut is sleeved on the second screw, and the top end of the second screw is connected to the bottom surface of the test platform.

[0022] Further, the linear guide rail is fixedly arranged on the bottom surface of the test platform. The top end of the second screw is fixedly connected with the second slider. The second slider is matched with the linear guide rail and can reciprocate along the linear guide rail.

[0023] Further, two second screw-nut mechanisms are provided, and two linear guide rails and two second sliders are also respectively provided.

[0024] Further, a plurality of threaded holes are evenly distributed on the tabletop of the test platform. The stop block is fixedly arranged on the tabletop of the test platform through the threaded holes and fasteners, and the collimator is arranged in the groove formed by the stop blocks.

[0025] Further, the test platform can be installed with two or more collimators simultaneously.

[0026] Further, a controller is further included. The controller is communicatively connected to the heading adjustment mechanism, the pitch adjustment mechanism, and the multi-linkage lifting device, and can control the movements of the heading adjustment mechanism, the pitch adjustment mechanism, and the multi-linkage lifting device.

[0027] Further, a digital display box is arranged on the controller, which communicates with the absolute encoders respectively arranged on the heading adjustment mechanism, the pitch adjustment mechanism, and the multi-linkage lifting device, and can display the currently raised height, pitch angle, and heading angle.

[0028] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0029] 1) The pose-adjustable collimator platform of the present invention has an overall frame structure, is small in size and light in weight, and is convenient to be transported to the site where the equipment to be detected is located, so as to realize on-site detection of the optical remote sensing equipment, and avoid the reduction of equipment accuracy caused by handling.

[0030] 2) For the pose-adjustable collimator platform of the present invention, since the pose of the collimator is adjustable, the requirements for the aperture and field of view of the collimator are reduced. Furthermore, on the premise of meeting the detection requirements, the production cost is reduced. At the same time, during the detection process, the equipment to be detected can remain in its original state without moving, which improves the detection accuracy and also avoids the reduction of accuracy caused by moving the equipment to be detected.

[0031] 3) The pose-adjustable collimator platform of the present invention can realize the adjustment of the pose in the heading, pitch, and lifting directions, meet the detection requirements of large-aperture and wide-field-of-view optical remote sensing equipment, ensure the accurate detection and calibration of various optical indicators of the optical remote sensing equipment, has a wide application prospect, effectively saves the use cost of the collimator in many aspects, and realizes the reasonable allocation of scientific research resources.

[0032] In the present invention, the above technical solutions can be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be made obvious from the description, or can be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained from the content specifically pointed out in the description and the drawings. Description of the Drawings

[0033] The accompanying drawings are only for the purpose of showing specific embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference signs denote the same components.

[0034] Figure 1 Schematic structural diagram of the pose-adjustable collimator platform of the present invention;

[0035] Figure 2 Front view of the pose-adjustable collimator platform of the present invention;

[0036] Figure 3 Schematic diagram of the main body of the frame of the pose-adjustable collimator platform of the present invention;

[0037] Figure 4 Schematic structural diagram of the frame of the pose-adjustable collimator platform of the present invention and the components fixedly arranged on the frame;

[0038] Figure 5 Schematic structural diagram of the lifting frame, the first lead screw and the guide post of the pose-adjustable collimator platform of the present invention;

[0039] Figure 6 Schematic structural diagram of the course adjustment mechanism of the pose-adjustable collimator platform of the present invention;

[0040] Figure 7 Schematic structural diagram of the pitch adjustment mechanism of the pose-adjustable collimator platform of the present invention;

[0041] Figure 8 Schematic structural diagram of another perspective of the pitch adjustment mechanism of the pose-adjustable collimator platform of the present invention.

[0042] Reference signs:

[0043] 1 - Frame; 11 - Column; 12 - Cross beam; 13 - Shock-absorbing caster; 14 - Fixed foot; 15 - Handle; 16 - Guide sleeve; 17 - Mounting plate;

[0044] 2 - Multi-linkage lifting device; 21 - Lifting drive structure; 211 - First motor; 212 - First steering reduction mechanism; 213 - Second steering reduction mechanism; 214 - First lead screw; 215 - First nut; 216 - First transmission rod; 22 - Lifting frame; 221 - Lifting platform; 222 - Top cross beam; 223 - Vertical support beam; 224 - Diagonal support beam; 23 - Guide post;

[0045] 3 - Heading adjustment mechanism; 31 - Heading adjustment drive structure; 311 - First handwheel; 312 - Second transmission rod; 313 - Mounting seat; 314 - Worm gear; 315 - Worm; 316 - Bearing; 32 - Rotating platform; 33 - I - shaped mounting plate; 34 - Arc - shaped guide rail; 35 - First slider;

[0046] 4 - Pitch adjustment mechanism; 41 - Second handwheel; 42 - Second lead screw; 43 - Second nut; 44 - Linear guide rail; 45 - Second slider; 46 - Upper lug; 47 - Lower lug; 48 - Rotating shaft; 49 - Third transmission rod;

[0047] 5 - Test platform. Specific implementation mode

[0048] The following combines the drawings to specifically describe the preferred embodiments of the present invention. Among them, the drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0049] It should be noted that in all the drawings, the hidden structures are represented by dashed lines.

[0050] Embodiment 1

[0051] The present invention provides a collimator platform with adjustable position and pose. Refer to Figures 1 - 2 , including: frame 1, multi - linkage lifting device 2, heading adjustment mechanism 3, pitch adjustment mechanism 4, test platform 5, collimator (not shown in the figure) and controller. By enabling the collimator to have the function of position and pose adjustment, the collimator has the test ability of large aperture and wide field of view.

[0052] Among them, the frame 1 is formed by square steel pipes. Refer to Figure 3 , the main body of the frame 1 is a cubic frame structure composed of four columns 11 and ten cross - beams 12. Among them, there are three upper, middle and lower cross - beams 12 on one side in the length direction, and two upper and lower cross - beams 12 on one side in the width direction. Between the upper cross - beam and the middle cross - beam on both sides in the length direction, three guide sleeves 16 are respectively arranged in parallel at intervals for guiding the multi - linkage lifting device 2. On the upper cross - beam on one side in the width direction, three mounting plates 17 are arranged in parallel at intervals for installing some components of the lifting drive structure 21 in the multi - linkage lifting device 2. Matching T - nuts can be placed in the grooves of the square steel pipes to achieve free installation, or a transition plate can be connected according to the load situation. The square steel pipes are connected by high - strength die - cast angle aluminum to ensure the connection strength, and the maximum load of the frame can reach 2000 kg. Refer to Figure 4A handle 15 is welded on the side wall of the upper crossbeam 12 in the length direction, which is convenient for pushing and pulling the mobile device as a whole. Two shock-absorbing casters 13 are arranged at the bottom of the two lower crossbeams in the length direction, and a fixed foot 14 is arranged at the bottom of each of the four columns 11, which is convenient for daily transportation and convenient for setting up at the optical remote sensing equipment site, and quickly forming a collimator platform with adjustable posture. When the optical remote sensing equipment does not need to be transferred, the detection and calibration of various optical indicators such as its focal length, field of view, resolution, and modulation transfer function are completed, thereby improving the production efficiency of the optical remote sensor and effectively reducing the transportation cost and debugging cost.

[0053] See also Figures 4 - 5 The multi-link lifting device 2 is arranged on the frame 1 and can move up and down relative to the frame 1.

[0054] The multi-link lifting device 2 comprises a lifting driving structure 21, a lifting frame 22 and a guide column 23. The lifting driving structure 21 drives the lifting frame 22 to move up and down, and the guide column 23 guides the movement of the lifting frame 22.

[0055] The lifting drive structure 21 includes a first motor 211, a first steering reduction mechanism 212, a second steering reduction mechanism 213, a first transmission rod 216 and a first screw nut mechanism. The first motor 211 is fixedly arranged on the frame 1. Specifically, a first motor seat is arranged in the middle of the upper crossbeam 12 in the width direction of one side of the frame 1, and the first motor 211 is fixedly arranged on the first motor seat. A mounting plate 17 is arranged at each end and the middle of the crossbeam 12, and the mounting plates 17 extend horizontally outward. The first steering reduction mechanism 212 and the second steering reduction mechanism 213 are respectively arranged on the mounting plate 17 and are connected by the first transmission rod 216. The output end of the first motor 211 is connected by the first steering reduction mechanism 212 and the second steering reduction mechanism 213, and the first motor 211 synchronously drives the four first screw nut mechanisms through the double steering reduction mechanism.

[0056] Each first lead screw and nut mechanism includes a first lead screw 214 and a first nut 215. Each column 11 of the frame 1 is a hollow structure, and the first lead screw 214 is inserted into the hollow part of the column 11. A first nut 215 is fixedly provided on the top of the column 11, and the first nut 215 is sleeved on the first lead screw 214, and the rotation of the first nut 215 can drive the first lead screw 214 to move up and down. The four first lead screws 214 are integrated into one in the multi-linkage lifting device 2, and a single motor drives a double steering reduction mechanism control method, which can achieve the synchronization of the lifting and lowering of the four first lead screws 214. The first lead screw 214 is preferably a large-lead T-type lead screw, which can achieve a lifting range of 2000 mm and can also achieve safe self-locking.

[0057] See alsoFigure 5 The lifting frame 22 includes two top cross beams 222 extending along the length direction of the frame, four vertical support beams 223 vertically extending downward from the middle of each top cross beam 222, with the four vertical support beams 223 arranged at intervals; and diagonal support beams 224 obliquely extending downward from near the ends of each top cross beam 222, with the bottom of each diagonal support beam 224 fixedly connected to the middle or the middle-lower part of the adjacent vertical support beam 223.

[0058] The lifting frame 22 further includes a lifting platform 221, which can be a rectangular frame or a rectangular flat plate. Both sides of the lifting platform 221 are fixedly connected to the bottom of the vertical support beams 223 on this side.

[0059] Both ends of the top cross beam 222 are respectively fixedly connected with a first lead screw 214. Through the above settings, the four first lead screws 214 can synchronously drive the top cross beam 222 to perform lifting motion.

[0060] In addition, three guide columns 23 are respectively arranged on each top cross beam 222. The guide columns 23 are inserted into the guide sleeves 16 on the frame 1 in a one-to-one correspondence and can move up and down relative to the guide sleeves 16. Through the cooperation between the guide columns 23 and the guide sleeves 16, the straightness and stability of the lifting motion can be ensured.

[0061] See Figure 2 The heading adjustment mechanism 3 is arranged on the lifting platform 221 of the multi-linkage lifting device 2 and can lift together with the lifting platform 221.

[0062] See Figures 6 - 7 The heading adjustment mechanism 3 includes a heading adjustment driving structure 31, a rotating platform 32, an I-shaped mounting plate 33, an arc-shaped guide rail 34 and a first slider 35.

[0063] Among them, the I-shaped mounting plate 33 is fixedly arranged on the lifting platform 221 of the multi-linkage lifting device 2, and the heading adjustment driving structure 31 is arranged on the lifting platform 221 of the multi-linkage lifting device 2 through the I-shaped mounting plate 33. See Figure 6, the heading adjustment drive structure 31 includes a first handwheel 311, a second transmission rod 312, a mounting seat 313, a worm 315, a worm gear 314 and a bearing 316. The second transmission rod 312 is rotatably supported on the lifting platform 221 through the mounting seat 313. The first handwheel 311 is arranged at one end of the second transmission rod 312, and a worm 315 is arranged at the other end of the second transmission rod 312 and can drive the worm 315 to rotate. The worm 315 meshes with the worm gear 314. The axis of the worm 315 extends in the horizontal direction, and the axis of the worm gear 314 extends in the vertical direction. The worm gear 314 is sleeved on the outer ring of the bearing 316, and the inner ring of the bearing 316 is fixedly arranged on the I-shaped mounting plate 33. The rotating platform 32 is fixedly connected to the top surface of the worm gear 314 and can be driven by the worm gear 314 to rotate in the horizontal plane to simulate the change of the heading.

[0064] Among them, the first handwheel 311 can also be replaced by a second motor.

[0065] Among them, the bearing 316 is preferably a large-load cylindrical roller bearing to ensure the stability of the tabletop during rotation and prevent shaking.

[0066] Preferably, referring to Figure 6 , on the I-shaped mounting plate 33, arc-shaped guide rails 34 are respectively arranged at the two laterally extending ends, and a limit seat is arranged at each end of each arc-shaped guide rail 34. Corresponding first sliders 35 are arranged at the bottom of the rotating platform 32, and the first sliders 35 can slide back and forth along the arc-shaped guide rails 34. The first sliders 35 are preferably four. By arranging the arc-shaped guide rails 34 and the first sliders 35, the rotating platform 32 is stably supported, rotates smoothly, and is not prone to warping deformation.

[0067] The width of the rotating platform 32 is smaller than that of the lifting platform 221, specifically, it can be between two-thirds and three-fourths of the width of the lifting platform 221. By setting it like this, it can be ensured that the rotating platform 32 will not interfere with the frame 1 and the lifting platform 221 during rotation.

[0068] The heading adjustment mechanism 3 adopts a worm and worm gear transmission and a large-load cylindrical roller bearing structure to achieve a ±10° heading pose adjustment. An absolute encoder can also be installed, and the adjustment angle is displayed through a digital display box. The heading adjustment mechanism 3 uses an extended handle for easy operation.

[0069] Referring to Figure 2 , the pitch adjustment mechanism 4 is arranged on the rotating platform 32 of the heading adjustment mechanism 3 and can move along with the movement of the heading adjustment mechanism 3.

[0070] Referring to Figures 7 - 8 , the pitch adjustment mechanism 4 includes an upper lug 46, a lower lug 47, a rotating shaft 48, a second lead screw nut mechanism, a linear guide rail 44 and a second slider 45.

[0071] The pitching adjustment mechanism 4 is arranged between the test platform 5 and the rotating platform 32. The test platform 5 is located above the rotating platform 32. One side of the test platform 5 is hinged to the rotating platform 32 through a rotating shaft 48. Specifically: a convex lug 46 protrudes downward from the bottom of the test platform 5, and a through hole is provided on the convex lug 46. At the corresponding position on the top surface of the rotating platform 32, a convex lug 47 protrudes upward, and a through hole is correspondingly provided on the convex lug 47. The rotating shaft 48 is sequentially inserted into the through holes on the convex lug 46 and the convex lug 47 and is axially limited.

[0072] The other side of the test platform 5 is connected to the rotating platform 32 through a second lead screw nut mechanism. The second lead screw nut mechanism includes a second handwheel 41 (which can also be a third motor), a third transmission rod 49, a second nut 43, and a second lead screw 42. The second handwheel 41 is arranged on the rotating platform 32. The second handwheel 41 drives the second nut 43 to rotate through the third transmission rod 49. The second nut 43 is sleeved on the second lead screw 42, and the top end of the second lead screw 42 is connected to the bottom surface of the test platform 5.

[0073] At the position on the bottom surface of the test platform 5 corresponding to the second lead screw 42, a linear guide rail 44 is fixedly arranged. The top end of the second lead screw 42 is fixedly connected with a second slider 45. The second slider 45 is adapted to the linear guide rail 44 and can reciprocate along the linear guide rail 44.

[0074] By rotating the second handwheel 41, the second lead screw 42 can be driven to move up and down, and then drive the test platform 5 to rotate around the rotating shaft 48, simulating the change of pitching posture.

[0075] The second lead screw 42 is preferably a T-shaped lead screw.

[0076] In a preferred solution, two second lead screw nut mechanisms are provided. With this setting, the pressure borne by a single second lead screw 42 can be halved, and the movement is more stable and reliable.

[0077] The pitching adjustment mechanism 4 uses one power source to synchronously drive two second lead screw nut mechanisms, ensuring the synchronism of the lifting of the two second lead screw nut mechanisms, effectively reducing the complexity of the equipment, realizing the pitching ±10° pose adjustment. An absolute encoder is installed, and the adjustment angle can be displayed through a digital display box. The pitching adjustment mechanism 4 uses an extended handle for easy operation.

[0078] On the tabletop of the test platform 5, a plurality of 25×M6 threaded holes are evenly distributed. The stop block can be installed on the tabletop through the threaded holes and fasteners. Then, the collimator is placed in the groove formed by the stop blocks. A stud pressing strip is installed above the collimator, and the stud pressing strip and the test platform are fixed through long screws, thereby fixing the collimator.

[0079] The collimator is placed on the test platform 5, and the test platform 5 will perform movements such as heading, pitching, and lifting in terms of angles and displacements, causing the collimator to generate corresponding poses for the optical remote sensing equipment to test.

[0080] The test platform 5 can install 2 collimators simultaneously, so it can provide an optical target source with multiple optical axes and multiple spectral bands.

[0081] The controller can control the movements of the heading adjustment mechanism 3, the pitching adjustment mechanism 4, and the multi-link lifting device 2, thereby realizing the adjustment functions of the heading, pitching, and lifting poses. A digital display box is installed on the controller, which communicates with the absolute encoder and can display pose information such as the currently raised height, pitching angle, and heading angle. The controller has a communication interface and can be jointly adjusted with the optical remote sensing equipment.

[0082] As mentioned above, only the specific preferred embodiments of the present invention are described, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A collimator platform with adjustable position and pose, characterized in that: It includes a collimator, a frame, a multi-link lifting device, and a heading adjustment mechanism. Among them, the multi-link lifting device is arranged on the frame and can move up and down relative to the frame; the heading adjustment mechanism is arranged on the multi-link lifting device and can rotate around an axis in the vertical direction relative to the multi-link lifting device; the collimator is fixedly arranged on the heading adjustment mechanism.

2. The adjustable pose collimator platform according to claim 1, characterized in that: The frame is composed of a cubic frame structure formed by square steel pipes and includes columns and crossbeams.

3. The adjustable pose collimator platform according to claim 2, characterized in that: At least one handle is welded on the outer side of the crossbeam.

4. The adjustable pose collimator platform according to claim 2, wherein: There are two shock-absorbing casters provided at the bottom of each of the two cross beams in the length direction, and a fixed foot is provided at the bottom of each column 。 5. The adjustable pose collimator platform according to claim 1, characterized in that: The multi-link lifting device includes a lifting drive structure and a lifting frame body, and the lifting drive structure drives the lifting frame body to move up and down.

6. The adjustable pose collimator platform according to claim 5, wherein: The lifting drive structure includes a first motor, a first steering and deceleration mechanism, a second steering and deceleration mechanism, and a plurality of first lead screw nut mechanisms. The first motor, the first steering and deceleration mechanism, and the second steering and deceleration mechanism are fixedly arranged on the frame, and the plurality of first lead screw nut mechanisms are movably arranged on the frame. Each first lead screw nut mechanism includes a first lead screw and a first nut; the tops of the plurality of first lead screws are fixedly connected to the lifting frame body; the output end of the first motor drives the plurality of first lead screws to move up and down synchronously through the first steering and deceleration mechanism and the second steering and deceleration mechanism.

7. The adjustable pose collimator platform according to claim 5, characterized in that: The multi-link lifting device further includes a guide post, and the guide post is fixedly arranged on the lifting frame body; the lower part of the guide post is inserted into a guide sleeve arranged on the frame body, and the guide post can move up and down along the guide sleeve.

8. The adjustable pose collimator platform according to claim 5, characterized in that: The lifting frame body includes two top crossbeams extending along the length direction of the frame, at least two spaced vertical support beams vertically extending downward from the middle of each top crossbeam, and inclined support beams inclined downward from near the ends of each top crossbeam, wherein the bottom of each inclined support beam is fixedly connected to the middle or the middle and lower part of the adjacent vertical support beam.

9. The pose-adjustable collimator platform according to claim 8, characterized in that: The lifting frame body further includes a lifting platform, and both sides of the lifting platform are fixedly connected to the bottoms of the vertical support beams.

10. The adjustable pose collimator platform according to claim 9, characterized in that: The lifting platform is a rectangular frame or a rectangular flat plate.

Images