A two-axis hollow turntable for multi-system coaxial integration design

Abstract

The present invention relates to the field of turntable technology, and specifically discloses a two-axis hollow turntable for multi-system coaxial integrated design, including an azimuth axis system rotating along the Y axis, and a pitch axis system installed on the side of the azimuth axis system and rotating along the X axis; the azimuth axis system includes a hollow main shaft assembly, a shell assembly sleeved on the outside of the hollow main shaft assembly, and a Y-axis drive mechanism located between the shell assembly and the hollow main shaft assembly and connected respectively. The present invention solves the problem of coaxial integrated installation of multiple countermeasures of anti-UAV equipment in the prior art, and realizes complete unobstructed integration of each system; the use of the two-axis hollow turntable can realize the coaxial integrated installation of multiple anti-UAV means, and the turntable is based on modular design, with compact structure and flexible configuration.

Description

Technical Field

[0001] The invention relates to the technical field of turntables, and in particular to a two-axis hollow turntable for multi-system coaxial integrated design. Background Art

[0002] With the development and maturity of drone technology, drone incidents have occurred frequently in various places, and the demand for anti-drone equipment has become increasingly urgent. However, due to the wide variety of drones and diverse flight scenarios, the reliability of intercepting and countering illegal drones by relying on a single means is not high. Therefore, effective and reliable anti-drone equipment usually integrates multiple means such as detection, suppression and countermeasures, such as radar detection, photoelectric detection, radio spectrum detection, radio suppression interference, and navigation deception. In order to cover the entire airspace as much as possible, various countermeasures are usually installed on a turntable.

[0003] At present, various types of countermeasure equipment are equipped with turntables separately, and cannot be installed in a coaxial integrated manner, especially the two-axis turntable. When multiple countermeasure equipment are installed on the same platform, it is inevitable that they will block each other and there will be a countermeasure blind spot. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a two-axis hollow turntable for multi-system coaxial integration design; to solve the problem of coaxial integrated installation of various countermeasures of anti-UAV equipment in the prior art, and to achieve complete unobstructed integration of various systems; the use of the two-axis hollow turntable can achieve coaxial integrated installation of various anti-UAV means, and the turntable is based on modular design, with a compact structure and flexible configuration.

[0005] The solution adopted by the present invention to solve the technical problem is:

[0006] A two-axis hollow turntable for multi-system coaxial integrated design includes an azimuth axis system rotating along the Y axis and a pitch axis system installed on the side of the azimuth axis system and rotating along the X axis; the azimuth axis system includes a hollow main shaft assembly, a shell assembly sleeved on the outside of the hollow main shaft assembly, and a Y-axis drive mechanism located between the shell assembly and the hollow main shaft assembly and connected respectively.

[0007] Working principle: The hollow spindle assembly is fixed, and its bottom is fixedly connected to other components. The Y-axis driving mechanism is used to realize the rotation of the outer shell assembly and other equipment installed on the outer shell assembly around the axis of the hollow spindle assembly. Since the pitch axis system is connected to the azimuth axis system, the pitch axis system is driven to rotate along the axis of the hollow spindle assembly. The pitch axis system can simultaneously realize rotation along the X-axis and Y-axis during use.

[0008] In some possible embodiments, in order to effectively realize the rotation of the outer shell assembly and the pitch axis system connected to the outer shell assembly along the axis of the hollow spindle assembly, the Y-axis drive mechanism includes a torque motor mounted on the outside of the hollow spindle assembly and connected to the hollow spindle assembly; the outer side of the torque motor is connected to the outer shell assembly.

[0009] In some possible embodiments, the shell assembly includes an upper shell, a middle shell, and a lower shell, which are sequentially mounted on the outside of the hollow spindle assembly from top to bottom; the upper shell, the middle shell, and the lower shell are sequentially connected to the outside of the hollow spindle assembly to form an installation chamber for installing a torque motor.

[0010] In some possible embodiments, in order to make the rotation of the outer shell assembly and the pitch axis system along the hollow main shaft assembly more stable; the Y-axis drive mechanism also includes a roller bearing 1 arranged between the lower outer shell and the hollow shaft assembly; the inner ring of the roller bearing 1 is connected to the hollow main shaft assembly, and the outer ring thereof is connected to the middle outer shell.

[0011] In some possible embodiments, the hollow spindle assembly includes a hollow shaft one and a hollow shaft two that are coaxially arranged and interconnected; the inner ring of the torque motor is connected to the outer side of the hollow shaft one; and the inner ring of the roller bearing one is connected to the outer side of the hollow shaft two.

[0012] In some possible embodiments, in order to effectively realize the rotation of the pitch axis system along the X-axis direction; the pitch axis system is two and symmetrically arranged along the axis of the hollow spindle assembly; it includes a base shell connected to the shell assembly, a load mounting flange rotatably mounted on the base shell, and an X-axis drive mechanism mounted on the base shell and used to control the rotation of the load mounting flange along the X-axis direction.

[0013] In some possible embodiments, in order to effectively enable the load mounting flange and the equipment mounted on the load mounting flange to rotate along the X-axis direction; the base shell is provided with a hollow shaft along the X-axis direction; the X-axis driving mechanism rotates the worm gear mounted on the outside of the hollow shaft, the worm meshing with the worm gear, and the driving device connected to the worm gear; the load mounting flange is installed on the side of the turbine away from the hollow spindle assembly.

[0014] In some possible implementations, in order to make the rotation of the load mounting flange more stable, a second roller bearing is mounted on the outer side of the hollow shaft, the inner ring of the second roller bearing is connected to the hollow shaft, and the outer ring of the second roller bearing is connected to the worm gear.

[0015] In some possible implementations, in order to effectively realize the measurement of the rotation angle along the Y-axis direction; the azimuth axis system also includes an upper end cover that is mounted on the outside of the hollow spindle assembly and connected to the side of the upper shell away from the lower shell, and a lower end cover that is mounted on the outside of the hollow spindle assembly and connected to the side of the lower shell away from the upper shell; an installation chamber two is formed between the upper end cover and the upper shell, an installation chamber three is formed between the lower end cover and the lower shell, an electromagnetic brake assembly is installed in the installation chamber two; an azimuth angle sensor is installed in the installation chamber three.

[0016] In some possible implementations, in order to effectively achieve the measurement of the pitch angle, the pitch axis system further includes a pitch angle sensor mounted on the worm gear.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention effectively realizes the coaxial integrated installation of various anti-UAV means through the coordination of the azimuth axis system and the pitch axis system, and the turntable is based on modular design, with compact structure and flexible configuration;

[0019] The pitch axis systems on both sides of the azimuth axis system are symmetrically arranged and replaceable, and the pitch axis systems on both sides can be set by the control system to achieve synchronous pitch or independent pitch, so the configuration is flexible and convenient;

[0020] The present invention is based on modular design, and the two sides of the azimuth axis system are detachably connected to the two elevation axis systems. After the two elevation axis systems are removed, it can be directly converted into a coaxially integrated single-axis turntable for use, and has strong versatility;

[0021] The present invention provides an electromagnetic brake assembly, which can realize power-off self-locking in the transportation state, thereby ensuring that the equipment is stable and reliable during transportation;

[0022] The present invention can realize the arrangement of cables from the center through the hollow shaft; the pitch axis system is provided with a hollow shaft, so that the cables of the pitch load can be arranged from the center;

[0023] The invention has compact structure, small volume, low cost and is easy to integrate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the cross-sectional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the connection relationship between the worm wheel, the worm and the base housing in the present invention;

[0026] Figure 3 It is a schematic diagram of the cross-sectional structure of the pitch axis system in the present invention;

[0027] Figure 4 is a side view of the pitch axis system of the present invention;

[0028] Figure 5 is a side view of the present invention;

[0029] Figure 6 A top view of the present invention;

[0030] Figure 7 It is a usage state diagram of the present invention;

[0031] Among them: 1. Upper end cover; 2. Upper shell; 3. Middle shell; 4. Torque motor; 5. Bearing installation adapter; 6. Lower shell; 7. Lower end cover; 8. Azimuth angle sensor; 9. Lower end flange; 10. Hollow shaft 2; 11. Hollow shaft 1; 12. Roller bearing 1; 13. Bearing pressure ring; 14. Installation adapter; 15. Electromagnetic brake assembly; 16. Upper end flange; 17. Merger ring; 18. Moving end aviation plug; 19. Fixed end aviation plug; 20. X-axis drive mechanism; 201. Worm gear; 202. Worm; 21. Servo motor; 22. Pitch angle sensor; 23. Roller bearing 2; 24. Wire protection cover; 25. Load installation flange; 27. Base shell; 28. Aviation plug 2. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The words "one", "two" and similar words mentioned in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, the words "one" or "an" and similar words do not indicate a quantity limitation, but indicate the existence of at least one. The words "connected" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] The present invention is achieved through the following technical solutions: Figure 1-Figure 7 As shown,

[0036] A two-axis hollow turntable for multi-system coaxial integrated design includes an azimuth axis system rotating along the Y axis and a pitch axis system installed on the side of the azimuth axis system and rotating along the X axis; the azimuth axis system includes a hollow main shaft assembly, a shell assembly sleeved on the outside of the hollow main shaft assembly, and a Y-axis drive mechanism located between the shell assembly and the hollow main shaft assembly and connected respectively.

[0037] Working principle: The hollow spindle assembly is fixed, with load one installed on its top, and its bottom is fixedly connected to other components. The outer shell assembly and other equipment installed on the outer shell assembly are rotated around the axis of the hollow spindle assembly through the Y-axis driving mechanism; since the pitch axis system is connected to the azimuth axis system, the pitch axis system is driven to rotate along the axis of the hollow spindle assembly; the pitch axis system is simultaneously rotated along the X-axis and Y-axis during use, thereby driving the load two installed on the pitch axis system to rotate.

[0038] In some possible embodiments, in order to effectively realize the rotation of the outer shell assembly and the pitch axis system connected to the outer shell assembly along the axis of the hollow spindle assembly, the Y-axis drive mechanism includes a torque motor 4 that is mounted on the outside of the hollow spindle assembly and connected to the hollow spindle assembly; the outer side of the torque motor 4 is connected to the outer shell assembly.

[0039] The inner side of the torque motor 4 is connected to the hollow spindle assembly, and the outer side of the torque motor 4 is connected to the outer shell assembly. The torque motor 4 is controlled to start, so that the outer shell assembly connected to the outer side of the torque motor 4 rotates around the axis of the hollow spindle assembly, that is, it rotates along the Y-axis direction; thereby driving the pitch axis system connected to the outer shell assembly to rotate along the Y-axis direction.

[0040] In some possible implementations, the housing assembly includes an upper housing 2, a middle housing 3, and a lower housing 6 which are sequentially mounted on the outer side of the hollow spindle assembly from top to bottom; the upper housing 2, the middle housing 3, and the lower housing 6 are sequentially connected to the outer side of the hollow spindle assembly to form an installation chamber 1 for installing the torque motor 4. The outer side of the torque motor 4 is connected to the inner side of the middle housing 3, thereby driving the entire housing assembly to achieve rotation along the Y-axis direction.

[0041] Preferably, the upper shell 2, the middle shell 3 and the lower shell 6 are connected by screws.

[0042] Preferably, Figure 1 As shown, the installation chamber 1 is in the shape of a circular ring, and a collector ring 17 is installed in the installation chamber 1, and the return row is fixedly mounted on the outside of the hollow main shaft assembly; an installation adapter 14 is arranged between the collector ring 17 and the inner ring of the torque motor 4, and the installation adapter 14 is mounted on the outside of the collector ring 17 and is fixedly connected, and the inner ring of the torque motor 4 is connected to the outer side of the installation adapter 14, thereby realizing the connection between the inner ring of the torque motor 4 and the hollow main shaft assembly.

[0043] In some possible embodiments, in order to make the rotation of the outer shell assembly and the pitch axis system along the hollow main shaft assembly more stable; the Y-axis drive mechanism also includes a roller bearing 12 arranged between the lower outer shell 6 and the hollow shaft assembly, the inner ring of the roller bearing 12 is connected to the hollow main shaft assembly, and the outer side thereof is connected to the lower outer shell 6.

[0044] The inner ring of the roller bearing 12 is connected to the hollow main shaft assembly, and the outer ring is connected to the middle housing 3.

[0045] Preferably, Figure 1 As shown, a bearing pressure ring 13 is installed between the roller bearing 12 and the side of the mounting adapter 14 close to the lower housing 6; the bearing pressure ring 13 is mainly used to fix the roller bearing 12.

[0046] Preferably, the lower shell 6 includes a lower shell 6 body, a bearing mounting adapter 5 installed on the side of the lower shell 6 close to the upper shell 2, a roller bearing mounting chamber is formed between the bearing mounting adapter 5 and the hollow spindle assembly, and the bearing mounting adapter 5 is respectively connected to the middle shell 3 and the lower shell 6; the outer ring of the roller bearing 12 is connected to the bearing mounting adapter 5.

[0047] In some possible embodiments, the hollow spindle assembly includes a hollow shaft 11 and a hollow shaft 10 that are coaxially arranged and interconnected; the inner ring of the torque motor is connected to the outer side of the hollow shaft 11; and the inner ring of the roller bearing 12 is connected to the outer side of the hollow shaft 10.

[0048] The hollow spindle assembly mainly enables the outer shell assembly and the pitch axis system installed on the outside of the outer shell assembly to rotate along the Y-axis; the reason for adopting the hollow structure here is to enable the line of the load one installed on the top of the hollow spindle assembly and coaxially installed with the hollow spindle assembly to be arranged through the hollow structure, making the arrangement of the line more convenient and simple, and the line will not interfere with the normal operation of the device during use.

[0049] Preferably, the hollow shaft 11 and the hollow shaft 2 10 are connected by bolts.

[0050] In some possible embodiments, in order to effectively realize the rotation of the pitch axis system along the X-axis direction; the pitch axis system is two and symmetrically arranged along the axis of the hollow spindle assembly; it includes a base shell 27 connected to the shell assembly, a load mounting flange 25 rotatably mounted on the base shell 27, and an X-axis drive mechanism 20 mounted on the base shell 27 and used to control the rotation of the load mounting flange 25 along the X-axis direction.

[0051] Preferably, Figure 1 , Figure 4 As shown, a positioning stop is provided on one side of the base shell 27 close to the shell assembly, and a connector connected to the positioning stop is provided on the outer side of the middle shell 3, and the connection between the shell assembly and the base shell 27 is achieved through the connection between the positioning stop and the connector.

[0052] In some possible implementations, such as Figure 1 , Figure 2 , Figure 3 , Figure 6 As shown, in order to effectively enable the load mounting flange 25 and the load 2 mounted on the load mounting flange 25 to rotate along the X-axis direction; the base shell 27 is provided with a hollow shaft along the X-axis direction; the X-axis driving mechanism 20 rotates the worm wheel 201 mounted on the outside of the hollow shaft, the worm 202 meshing with the worm wheel 201, and the driving device connected to the worm 202; the load mounting flange 25 is installed on the side of the turbine away from the hollow main shaft assembly.

[0053] Preferably, the driving device described here is a servo motor 21 , and the worm 202 can be rotated by controlling the start of the servo motor 21 , thereby driving the worm wheel 201 to rotate.

[0054] The two servo motors 21 respectively drive the two pitch axis systems to rotate along the X-axis direction, thereby achieving synchronous or independent movement of the two pitch axis lines.

[0055] like Figure 1 , Figure 2 As shown, the load mounting flange 25 is arranged on a side of the base housing 27 away from the housing assembly and is driven by the X-axis driving mechanism 20 to realize the rotation around the hollow shaft. Since the axis of the hollow shaft is arranged along the X-axis direction, the load mounting flange 25 is rotated relative to the base housing 27 along the X-axis direction;

[0056] When it is necessary to realize the rotation of the load mounting flange 25 along the X-axis direction, the driving device controls the rotation of the worm 202, so that the worm wheel 201 connected to the worm 202 rotates. Since the axis of the worm wheel 201 is coaxial with the axis of the hollow shaft, the load mounting flange 25 connected to the side of the worm wheel 201 away from the hollow spindle assembly rotates along the axis of the hollow shaft.

[0057] In some possible implementations, such as Figure 1 As shown, in order to make the transmission of the worm gear 201 more stable during rotation, a roller bearing 23 is mounted on the outer side of the hollow shaft, the inner ring of the roller bearing 23 is connected to the hollow shaft, and the outer ring of the roller bearing 23 is connected to the worm gear 201.

[0058] The inner ring of roller bearing 23 is connected to the hollow shaft, so that it is relatively fixedly connected to the base shell 27, and its outer ring is connected to the side of the worm wheel 201 close to the hollow main shaft assembly. The worm wheel 201 rotates around the inner ring of roller bearing 23 when the worm 202 drives it.

[0059] In some possible implementations, such as Figure 1As shown, in order to effectively realize the measurement of the rotation angle along the Y-axis direction; the azimuth axis system also includes an upper end cover 1 which is mounted on the outside of the hollow spindle assembly and connected to the side of the upper shell 2 away from the lower shell 6, and a lower end cover 7 which is mounted on the outside of the hollow spindle assembly and connected to the side of the lower shell 6 away from the upper shell 2; an installation chamber 2 is formed between the upper end cover 1 and the upper shell 2, and an installation chamber 3 is formed between the lower end cover 7 and the lower shell 6, and an electromagnetic brake assembly 15 is installed in the installation chamber 2; an azimuth angle sensor 8 is installed in the installation chamber 3.

[0060] Preferably, Figure 1 As shown, the code disk of the azimuth angle sensor 8 is installed on the lower housing 6, and the reading head of the azimuth angle sensor 8 is connected to the hollow shaft 10 through a transition piece. When the lower housing 6 rotates around the axis of the hollow spindle assembly, the azimuth angle sensor 8 performs angle measurement and transmits the measurement data to the control system through the reading head;

[0061] The electromagnetic brake assembly 15 and the upper end cover 1, the electromagnetic brake assembly 15 can hold the hollow shaft 11 to achieve azimuth locking when the power is off in the turntable transportation state;

[0062] In some possible implementations, such as Figure 1 , Figure 5 As shown, the hollow shaft 10 partially extends into the housing assembly; a moving end aviation plug 18 is installed on the upper housing 2, and a fixed end aviation plug 19 is installed on the hollow shaft 10;

[0063] In some possible implementations, in order to effectively measure the pitch angle, the pitch axis system further includes a pitch angle sensor 22 mounted on the worm gear 201 .

[0064] The code disc of the pitch angle sensor 22 is mounted on the worm gear 201, preferably, mounted on the side of the worm gear 201 close to the hollow spindle assembly, and its reading head is mounted on the base housing 27, which makes the whole structure more compact;

[0065] Preferably, a wire protection sleeve 24 is installed on the inner side of the hollow shaft; the wire protection sleeve 24 is made of polytetrafluoroethylene, which has a lubricating and friction-reducing effect, and the cable of the load 2 is not easily damaged when passing through it.

[0066] In some possible implementations, an upper flange 16 is installed on the top of the hollow spindle assembly; the load is installed on the hollow spindle assembly through the flange.

[0067] In some possible embodiments, the upper end cover 1 is provided with an annular sealing strip 1 near the upper end flange 16, and the upper end flange 16 is provided with a sealing groove 1 that cooperates with the annular sealing strip 1; the lower end cover 7 is provided with a sealing groove 2 on one side close to the lower outer shell 6, and the lower outer shell 6 is provided with an annular sealing strip 2 that cooperates with the sealing groove 2; the cooperation between the annular sealing strip and the sealing groove effectively realizes the sealed connection between the two.

[0068] Preferably, there is a gap between the upper end flange 16 and the upper end cover 1, so as to reduce the friction between the two.

[0069] Preferably, the top surface of the upper end cover 1 is an inclined surface, which is inclined from the side of the upper end cover 1 close to the hollow main shaft assembly to the side away from the hollow main shaft assembly, and the inclination angle is 0.5°-1°. This arrangement effectively ensures that rainwater can flow away in time when it rains.

[0070] Preferably, an air plug 28 is installed on the base shell 27 .

[0071] Preferably, a lower flange 9 is installed at the bottom of the hollow main shaft assembly, and the hollow main shaft assembly can be installed on other equipment through the lower flange 9. The upper flange 16, the hollow shaft 11, the hollow shaft 2 10, and the lower flange 9 are coaxially arranged.

[0072] The embodiments of the present application are introduced in detail above. Specific examples are used in the present application to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in the field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A two-axis hollow turntable for multi-system coaxial integration design, characterized by: It includes an azimuth axis system rotating along the Y axis, and a pitch axis system installed on the side of the azimuth axis system and rotating along the X axis; the azimuth axis system includes a hollow spindle assembly, a shell assembly sleeved on the outside of the hollow spindle assembly, and a Y-axis drive mechanism located between the shell assembly and the hollow spindle assembly and connected respectively; the Y-axis drive mechanism includes a torque motor sleeved on the outside of the hollow spindle assembly and connected to the hollow spindle assembly; the outside of the torque motor is connected to the shell assembly; the shell assembly includes an upper shell, a middle shell, and a lower shell sleeved on the outside of the hollow spindle assembly from top to bottom in sequence; the upper shell, the middle shell, and the lower shell are sequentially connected to the outside of the hollow spindle assembly to form an installation chamber for installing the torque motor 1; the Y-axis driving mechanism also includes a roller bearing 1 arranged between the lower shell and the hollow shaft assembly; the inner ring of the roller bearing 1 is connected to the hollow spindle assembly, and the outer ring thereof is connected to the middle shell; the hollow spindle assembly includes a hollow shaft 1 and a hollow shaft 2 which are coaxially arranged and interconnected; the inner ring of the torque motor is connected to the outer side of the hollow shaft 1; the inner ring of the roller bearing 1 is connected to the outer side of the hollow shaft 2; the pitch axis system is two and is symmetrically arranged along the axis of the hollow spindle assembly; it includes a base shell connected to the shell assembly, a load mounting flange rotatably mounted on the base shell, and an X-axis driving mechanism mounted on the base shell and used to control the rotation of the load mounting flange along the X-axis direction.

2. The two-axis hollow turntable for multi-system coaxial integration design according to claim 1, characterized in that: The base shell is provided with a hollow shaft along the X-axis direction; the X-axis driving mechanism rotates the worm wheel installed on the outside of the hollow shaft, the worm meshing with the worm wheel, and the driving device connected to the worm gear; the load mounting flange is installed on the side of the turbine away from the hollow main shaft assembly.

3. The two-axis hollow turntable for multi-system coaxial integration design according to claim 2 is characterized by: A second roller bearing is sleeved on the outer side of the hollow shaft, the inner ring of the second roller bearing is connected to the hollow shaft, and the outer ring of the second roller bearing is connected to the worm gear.

4. A two-axis hollow turntable for multi-system coaxial integration design according to any one of claims 1 to 3, characterized in that: The azimuth axis system also includes an upper end cover which is mounted on the outside of the hollow main shaft assembly and connected to the side of the upper shell away from the lower shell, and a lower end cover which is mounted on the outside of the hollow main shaft assembly and connected to the side of the lower shell away from the upper shell; an installation chamber 2 is formed between the upper end cover and the upper shell, an installation chamber 3 is formed between the lower end cover and the lower shell, an electromagnetic brake assembly is installed in the installation chamber 2; an azimuth angle sensor is installed in the installation chamber 3.

5. A two-axis hollow turntable for multi-system coaxial integration design according to any one of claims 2-3, characterized in that: The pitch axis system also includes a pitch angle sensor mounted on the worm gear.

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