A light two-axis two-frame stabilizing platform for shipborne antennas

Abstract

The application discloses a light two-axis two-frame stabilizing platform for a shipborne antenna, which realizes the movement of the stabilizing platform around two degrees of freedom of X and Y axes through the arrangement of a pitching mechanism, a rolling mechanism, a limiting mechanism, an antenna unit and a measurement and collection unit, and can also realize the composite movement around the two degrees of freedom of X and Y axes at the same time. The stabilizing platform adopts the driving mode of an alternating current motor plus a speed reducer, has the advantages of light weight, small size, simple mechanism form, compact structure, stability and reliability, convenient use and maintenance and the like, that is, the stabilizing platform can well meet the professional requirements of radars, communication and antennas, and finally greatly improves the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the mechanical technical field, in particular to a light two-axis two-frame stabilizing platform for shipborne antenna. BACKGROUND

[0002] The ship sailing on the sea will be affected by the weather environment such as sea waves and sea winds, so that the ship body itself will swing longitudinally and laterally, at this time the working performance of the ship antenna will be seriously affected. In order to ensure that the ship antenna has stable and reliable detection ability and high precision, it is necessary to isolate the longitudinal and lateral swinging of the ship body itself.

[0003] The stabilizing platform can effectively overcome the influence of the ship swinging on the antenna beam pointing, so that the antenna always maintains perpendicular to the horizontal plane, and its maximum gain always points to the horizontal direction. The existing stabilizing platform is mostly two-axis frame or three-axis frame type, but the structure of the existing stabilizing platform is relatively complex and the precision is low, which cannot well guarantee the needs of radar, communication and antenna and other related professions. SUMMARY

[0004] The present application provides a light two-axis two-frame stabilizing platform for shipborne antenna, to solve the problem that the existing stabilizing platform cannot well meet the professional needs of radar, communication and antenna.

[0005] The present application provides a light two-axis two-frame stabilizing platform for shipborne antenna, the stabilizing platform comprising: a support frame and a controller, and a pitching mechanism, a rolling mechanism and a limiting mechanism arranged on the support frame, wherein the pitching axis system of the pitching mechanism and the rolling axis system of the rolling mechanism are orthogonal to each other, and the rotation angle of the pitching mechanism and the rolling mechanism is limited by the limiting mechanism; the support frame further comprises a base, and a first support and a second support arranged on the base;

[0006] The rolling mechanism is arranged between the first support and the second support, and the rolling mechanism further comprises a rolling shell and a rolling motor arranged in the rolling shell, the rolling motor is controlled by the controller to make the rolling mechanism rotate around the rolling input shaft in a preset rolling angle range, wherein the rolling input shaft is parallel to the center axis between the first support and the second support;

[0007] The pitching mechanism further comprises a pitching motor, a pitching input shaft and a pitching output shaft, the pitching input shaft is arranged on the first support, one end of the pitching input shaft is connected with the pitching motor, one end of the pitching input shaft is fixed on the rolling shell, the pitching output shaft is arranged on the second support, one end of the pitching output shaft is arranged on the second support, and the other end is fixed on the rolling shell; the pitching motor is controlled by the controller to rotate the pitching input shaft, and the rolling mechanism drives the antenna unit to rotate in a preset rolling angle range.

[0008] The rolling shell is provided with an antenna unit, an inclinometer and a velocity gyroscope, the horizontal information of the antenna unit is measured by the inclinometer, and the speed information of the hull tilting is measured by the velocity gyroscope.

[0009] The controller calculates the rolling angle and the pitching angle for compensating the balance of the antenna unit according to the measured horizontal information of the antenna unit and the speed information of the hull tilting, and controls the rolling mechanism and the pitching mechanism to rotate based on the calculated rolling angle and pitching angle, so that the antenna unit is kept in a horizontal position.

[0010] Optionally, the rolling shell is provided with a rolling support, the rolling support comprises two support arms and a support platform, the support platform is connected with both sides of the central shaft of the rolling shell through the two support arms, and the support platform is used for fixing the antenna unit, the inclinometer and the velocity gyroscope.

[0011] Optionally, the rolling mechanism further comprises a second harmonic reducer, a rolling input shaft and a rolling output shaft, the rolling mechanism is driven by the rolling motor, the rolling input shaft is rotated after being decelerated by the second harmonic reducer, and finally the antenna unit is swung by the rolling support.

[0012] Optionally, the rolling shell is cylindrical, and the rolling input shaft and the rolling output shaft are arranged at both ends of the central shaft of the rolling shell.

[0013] The rolling motor is driven, the rolling input shaft is rotated after being decelerated by the second harmonic reducer, the rolling support is moved by the rotation of the rolling input shaft, the rolling output shaft is moved by the rolling support, and finally the antenna unit swings in the rolling angle.

[0014] Optionally, the pitching mechanism further comprises a pitching shell, the pitching shell is arranged outside the pitching motor and connected with the first support.

[0015] Optionally, the pitch mechanism further comprises a first harmonic reducer, the pitch mechanism is driven by the pitch motor, and after being decelerated by the first harmonic reducer, the pitch input shaft is driven to rotate, thereby driving the roll mechanism and the pitch output shaft to rotate, and finally driving the antenna unit to swing through the roll mechanism.

[0016] Optionally, the limiting mechanism comprises a roll stopper and a pitch stopper, wherein the roll stopper is arranged on the first support and / or the second support, and the pitch stopper is arranged on the base;

[0017] The roll stopper is used for limiting the rotation angle of the roll mechanism.

[0018] The pitch stopper is used for limiting the rotation angle of the pitch mechanism.

[0019] Optionally, the roll stopper is two, and is arranged on the top of the first support and the second support respectively; and the pitch stopper is also two, and is symmetrically arranged on the base.

[0020] Optionally, the preset pitch angle range is ±10°, and the preset roll angle range is ±20°.

[0021] Optionally, the inclinometer and the velocity gyroscope are symmetrically arranged on two sides of the antenna unit.

[0022] The present application has the following advantages:

[0023] The present application realizes the motion of the stable platform around two degrees of freedom of X and Y axes by arranging the pitch mechanism, the roll mechanism, the limiting mechanism, the antenna unit and the measurement and collection unit, and also realizes the compound motion around two degrees of freedom of X and Y axes at the same time, and the stable platform of the present application adopts the driving mode of "AC motor + reducer", the platform has the advantages of light weight, small volume, simple mechanism form, compact structure, stable and reliable, convenient use and maintenance, etc., that is, the stable platform of the present application can well meet the professional needs of radar, communication and antenna, and finally greatly improves the user experience.

[0024] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in any respect. Furthermore, like reference numerals are used to designate throughout the various Figures the same elements. In the Figures:

[0026] Figure 1 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0027] Figure 2 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0028] Figure 3 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0029] Figure 4 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0030] Figure 5 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0031] Figure 6 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0032] Figure 7 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0033] Figure 8 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0034] Figure 9 is a schematic diagram of the working principle of the system provided by the embodiments of the present application;

[0035] BRIEF DESCRIPTION OF DRAWINGS: 1 pitch mechanism, the pitch mechanism comprising parts: 6 motor cover, 7 pitch motor, 8 pitch housing, 9 pitch support, 10 first harmonic reducer, pitch input shaft further comprising pitch shaft 11 and another pitch shaft 12 keyed to the pitch shaft, 13 pitch output shaft, 14 angular ball bearing, 15 bearing baffle, 16 oil seal, 17 first pressing plate, 18 second pressing plate and 19 pitch gland;

[0036] 2 roll mechanism, the roll mechanism comprising parts: 20 roll motor, 10' second harmonic reducer, roll input shaft further comprising roll input shaft 21 and another roll input shaft 22 keyed to the roll input shaft, 23 roll output shaft, 14' angular ball bearing, 24 bearing baffle, 25 locking nut, 26 first roll cover plate, 27 second roll cover plate, 28 first roll end cover, 29 second roll end cover, 16' oil seal, 30 third pressing plate, 31 fourth pressing plate, 32 roll housing, 33 roll support;

[0037] 3 Limiting mechanism, the limiting mechanism comprises 34 roll stops and 35 pitch stops;

[0038] 4 Antenna unit, the antenna unit parts comprise 36 antennas and 37 antenna support flanges;

[0039] 5 Measurement acquisition unit, the measurement acquisition unit comprises 38 inclinometers and 39 rate gyroscopes. DETAILED DESCRIPTION

[0040] The embodiment of the present application can well meet the professional needs of radars, communications and antennas, and the present application realizes the movement of the stable platform around the two degrees of freedom of X and Y axes by setting the pitch mechanism, the roll mechanism, the limiting mechanism, the antenna unit and the measurement acquisition unit, and can also realize the composite movement around the two degrees of freedom of X and Y axes at the same time, and the stable platform of the present application adopts the driving mode of “AC motor + reducer”, which has the advantages of light weight, small size, simple mechanism form, compact structure, stability and reliability, easy use and maintenance, etc., that is, the stable platform of the present application can well meet the professional needs of radars, communications and antennas, and finally greatly improves the user experience. The present application will be further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0041] The embodiment of the present application provides a light two-axis two-frame type stable platform for a ship-borne antenna, referring to Figures 1 to 9 The stable platform comprises a support frame and a controller, and a pitch mechanism 1, a roll mechanism and a limiting mechanism arranged on the support frame, wherein the pitch axis system of the pitch mechanism 1 is orthogonal to the roll axis system of the roll mechanism, and the rotation angles of the pitch mechanism 1 and the roll mechanism are limited by the limiting mechanism; the support frame further comprises a base, and a first support and a second support arranged on the base;

[0042] The roll mechanism is arranged between the first support and the second support, and the roll mechanism further comprises a roll shell and a roll motor 20 arranged in the roll shell, the roll motor 20 is controlled by the controller to make the roll mechanism rotate around the roll input shaft in a preset roll angle range, wherein the roll input shaft is parallel to the center axis between the first support and the second support;

[0043] The pitch mechanism 1 further comprises a pitch motor 7, a pitch input shaft arranged on the first support, one end of the pitch input shaft being connected with the pitch motor 7, one end of the pitch input shaft being fixed on the roll shell, and a pitch output shaft 13 arranged on the second support, one end of the pitch output shaft 13 being arranged on the second support and the other end being fixed on the roll shell; the pitch motor 7 is controlled by the controller to make the pitch input shaft rotate within a preset pitch angle range, and the roll mechanism drives the antenna unit to rotate as a whole.

[0044] The roll shell is provided with an antenna unit, an inclinometer 38 and a velocity gyroscope 39, the horizontal information of the antenna unit is measured by the inclinometer 38, and the speed information of the hull roll inclination is measured by the velocity gyroscope 39.

[0045] The controller calculates the roll angle and the pitch angle for compensating the balance of the antenna unit according to the measured horizontal information of the antenna unit and the speed information of the hull roll inclination in real time, and controls the roll mechanism and the pitch mechanism 1 to rotate based on the calculated roll angle and pitch angle, so that the antenna unit is kept in a horizontal position.

[0046] In particular, the roll shell in the embodiment of the present application is provided with a roll support 33, the roll support 33 comprises two support arms and a support platform, the support platform is connected with both sides of the central shaft of the roll shell through the two support arms, and the support platform is used for fixing the antenna unit, the inclinometer 38 and the velocity gyroscope 39.

[0047] That is, the embodiment of the present application realizes the motion of the stabilized platform around two degrees of freedom of X and Y axes by arranging the pitch mechanism 1, the roll mechanism, the limiting mechanism, the antenna unit and the measurement and collection unit, and can also realize the composite motion around two degrees of freedom of X and Y axes at the same time, and the stabilized platform of the present application adopts the driving mode of “AC motor + reducer”, the platform has the advantages of light weight, small volume, simple mechanism form, compact structure, stable and reliable, easy to use and maintain, etc., that is, the stabilized platform of the present application can well meet the professional needs of radar, communication and antenna, and finally greatly improves the user experience.

[0048] Referring to Figure 2 The pitch shaft system in the embodiment of the present application can realize rotation around Y axis ±10°, and then the roll shaft system can realize rotation around X axis ±20°, and in particular, the person skilled in the art can set the specific rotation angle according to actual needs, and the present application does not make detailed limitation thereto.

[0049] It is to be noted that the pitch input shaft in the embodiment 1 of the application further comprises a pitch shaft 11 and another pitch shaft 12 keyed to the pitch shaft, and the roll input shaft in the embodiment of the application further comprises a roll input shaft 21 and another roll input shaft 22 keyed to the roll input shaft, that is, two pitch shafts constitute the pitch input shaft, and then two roll input shafts constitute the roll input shaft, which will be described in detail below. Figure 7 and Figure 8 .

[0050] In the embodiment of the application, the roll mechanism further comprises a second harmonic reducer 10', a roll input shaft and a roll output shaft 23, the roll mechanism is driven by the roll motor 20, and after being decelerated by the second harmonic reducer 10', the roll input shaft and the roll support 33 are driven to rotate, and then the roll output shaft 23 is driven to rotate, and finally the antenna unit is driven to swing. In the embodiment of the application, the roll housing is cylindrical, and the roll input shaft and the roll output shaft 23 are arranged at both ends of the central shaft of the roll housing.

[0051] That is, the embodiment of the application is driven by the roll motor 20, and after being decelerated by the second harmonic reducer 10', the roll input shaft is driven to rotate, and then the roll support 33 is driven to move by the rotation of the roll input shaft, and the roll output shaft 23 is driven to move by the roll support 33, and finally the antenna unit is driven to swing.

[0052] Referring to Figure 7 , the roll mechanism in the embodiment of the application comprises a roll motor 20, a second harmonic reducer 10', a roll shaft 1, a roll shaft, a roll output shaft 23, a self-aligning ball bearing 14', a bearing baffle 24, a locking nut 25, a first roll cover plate 26, a second roll cover plate 27, a first roll end cover 28, a second roll end cover 29, an oil seal 16' and a third pressing plate 30 and a fourth pressing plate 31. The transmission principle of the roll mechanism is that the roll motor 20 drives the roll shaft 21 and the roll shaft 22 to rotate after being decelerated by the second harmonic reducer 10', and finally drives the roll support 33, the antenna unit and the roll output shaft 23 to rotate.

[0053] Similarly, the pitch mechanism 1 in the embodiment of the application further comprises a pitch housing, the pitch housing is arranged outside the pitch motor 7 and connected with the first support. And the pitch mechanism 1 in the embodiment of the application further comprises a first harmonic reducer 10, the pitch mechanism 1 is driven by the pitch motor 7, and after being decelerated by the first harmonic reducer 10, the pitch input shaft and the roll mechanism are driven to rotate, and then the pitch output shaft 13 is driven to rotate, and finally the antenna unit is driven to swing by the roll mechanism.

[0054] Specifically, the pitch mechanism 1 in the embodiment of the present application is composed of a motor cover 6, a pitch motor 7, a pitch housing 8, a pitch support 9, a first harmonic reducer 10, a pitch shaft 1, a pitch shaft 2, a pitch output shaft 13, a self-aligning ball bearing 14, a bearing baffle 15, an oil seal 16, a first pressing plate 17, a second pressing plate 18 and a pitch gland 19. The transmission principle of the pitch mechanism 1 is that the pitch motor 7 drives the first harmonic reducer 10 to reduce the speed, and then drives the inner frame and the pitch output shaft 13 to rotate through the two pitch shafts.

[0055] Moreover, the pitch motor 7 in the embodiment of the present application is an AC servo brake motor, has the advantages of brake function, reliable work and low maintenance requirement, is installed on the external flange interface of the pitch housing 8 by screws, the pitch housing 8 is connected with the pitch support 9 by screws, and the pitch support 9 has the functions of shafting support and positioning.

[0056] The structure and motion principle of the roll mechanism and the pitch mechanism 1 in the embodiment of the present application can be understood by referring to Figure 3 、 Figure 7 、 Figure 8 and Figure 9 , and the present application does not make a detailed discussion hereon.

[0057] It should be noted that the roll motor 20 and the pitch motor 7 in the embodiment of the present application are the same type of AC servo brake motor, are installed on the internal mounting flange interface of the roll housing 32, have the advantages of self-locking function, reliable work and low maintenance requirement.

[0058] Moreover, the second harmonic reducer 10' in the embodiment of the present application is connected with the output end of the roll motor 20 and is installed on the internal flange of the roll housing 32; the second harmonic reducer 10' has the advantages of high precision, large transmission ratio, high bearing capacity, stable transmission and no impact, and compared with the ordinary reducer, the volume and mass can be greatly reduced and the occupied space is smaller.

[0059] In the specific implementation, the self-aligning ball bearing 14' in the embodiment of the present application needs to be used in pairs, is installed in the internal stop of the roll end cover 28 and the roll end cover 29, adopts the structure form of one end fixed and one end released, has the functions of bearing axial and radial load and axial and radial positioning. The locking nut is used for fixing the inner ring of the input end and output end self-aligning ball bearing 14', can bear larger axial load; the bearing baffle 24 is used for fixing the outer ring of the input end bearing and is installed on the roll end cover 28.

[0060] In addition, the oil seal in the embodiment of the present application is installed on the roll end cover 28 and the roll end cover 29, and is internally provided with a stopper, and has the sealing effect of preventing moisture and rain; the roll end cover 28 and the roll end cover 29 have the effect of supporting the bearing in the axial and radial directions, and are installed on both sides of the roll shell 32 through fasteners. In addition, the pressing plate 30 and the pressing plate 31 in the embodiment of the present application are fixed on the outside of the roll end cover 28 and the roll end cover 29 respectively through screws, and have the sealing, dustproof and rainproof effects.

[0061] Referring to Figure 7 The roll cover plate 26 and the roll cover plate 27 in the embodiment of the present application are respectively used for connecting the roll support 33 and the roll shaft 22 and the roll support 33 and the roll output shaft 23. Among them, the components 16-24 constitute a roll mechanism, and the whole roll mechanism is installed below the roll support 33.

[0062] In addition, the roll stopper 34 in the embodiment of the present application is installed on the upper side of both sides of the pitch support 9, and has the limiting protection effect.

[0063] In specific implementation, the antenna unit in the embodiment of the present application includes an antenna and an antenna support flange 37, wherein the support flange 37 is installed directly above the center of the roll support 33, the antenna is installed on the antenna support flange 37, and the antenna shaft is the Z axis; the antenna support flange 37 is used to support the antenna.

[0064] Among them, the antenna support flange 37, the roll support 33, the pitch support 9, the roll shell 32 and the pitch shell 8 are all made of aluminum alloy castings and are formed by machining.

[0065] In specific implementation, the size of the stable platform in the embodiment of the present application is controlled as follows: X axis ≤ 465 mm, Y axis ≤ 560 mm, and Z axis ≤ 275 mm (not including the size of the antenna), the stable platform can realize rotation of ± 20° around the roll axis X axis and rotation of ± 10° around the pitch axis Y axis, the stable platform has the advantages of small weight and volume, high precision, compact structure, convenient use and maintenance, and good application prospect.

[0066] Referring to Figure 3 and Figure 9 The limiting mechanism in the embodiment of the present application further includes a roll stopper 34 and a pitch stopper 35, wherein the roll stopper 34 is arranged on the first support and / or the second support, and the pitch stopper 35 is arranged on the base;

[0067] Specifically, the roll stopper 34 is used to limit the rotation angle of the roll mechanism, and the pitch stopper 35 is used to limit the rotation angle of the pitch mechanism 1.

[0068] In practice, the roll stoppers 34 in the embodiment of the present application are two, respectively arranged on the top of the first support and the second support; then the pitch stoppers 35 are also two, respectively symmetrically arranged on the base.

[0069] The stabilizing platform in the embodiment of the present application will be explained and described in detail below by a specific example: Figures 1 to 9

[0070] Referring to Figure 1 , the overall principle block diagram in the embodiment of the present application includes a stabilizing platform, a drive control unit and a monitoring unit, wherein the whole stabilizing platform is controlled by the drive control unit and can rotate in X and Y two-axis directions, and the drive control unit and the monitoring unit are the controller as described above in the embodiment of the present application, that is, the controller is used to complete all controls of the stabilizing platform in the embodiment of the present application, and in practice, the controller can be arbitrarily split by the skilled in the art according to the functions realized by the controller. And referring to Figure 3 and Figure 4 , it can be seen that the stabilizing platform in the embodiment of the present application specifically includes a pitch mechanism 1, a roll mechanism 2, a limiting mechanism 3, an antenna unit 4 and a measurement and acquisition unit 5.

[0071] It should be noted that the two axes in the embodiment of the present application are a roll axis system and a pitch axis system, and the frames in the embodiment of the present application are an inner frame and an outer frame, wherein the roll axis system is located in the inner frame, and the pitch axis system is located on the outer frame, and the pitch axis system and the roll axis system are orthogonal to each other.

[0072] When the ship body swings, the horizontal information of the antenna 36 can be sensitively detected by the inclinometer 38 in the embodiment of the present application, and the speed information of the ship body swing inclination can be sensitively detected by the rate gyroscope 39, and these information is sent to the drive control unit. The drive control unit completes the closed-loop control algorithm, state monitoring, motor driving and communication with the monitoring unit. The monitoring unit provides indoor digital display of the longitudinal and lateral angles of the stabilizing platform, and indicates the state of the stabilizing platform.

[0073] Referring to Figure 2 , it can be seen that the antenna stabilizing platform in the embodiment of the present application adopts a typical full-frame structure. The pitch axis, i.e. the Y axis, and the roll axis, i.e. the X axis, are parallel to the pitch axis and the roll axis of the ship body respectively. The antenna support flange 37 is installed on the inner frame, and the azimuth axis is the Z axis. The inner frame can rotate around the roll axis and the pitch axis. When the servo system receives the ship swing signal, the roll axis and the pitch axis are respectively driven to make the platform rotate in the opposite direction of the ship swing, so as to ensure the stability of the antenna posture.

[0074] Referring to Figure 5 ​The limiting mechanism 3 in the embodiment of the application comprises a roll stop 34 and a pitch stop 35, has a limiting protection function, and is installed on the beams on the left and right sides and below the pitch support 9.

[0075] Referring to Figure 6 The antenna unit 4 in the embodiment of the application comprises an antenna 36 and an antenna support flange 37. The antenna 36 is specifically installed on the antenna support flange 37 and is used to realize signal transmission, reception and other functions. The measurement and collection unit in the embodiment of the application comprises an inclinometer 38 and a rate gyroscope 39. The inclinometer 38 can measure the horizontal information of the antenna 36, and the rate gyroscope 39 can measure the speed information of the ship body rocking and tilting. The inclinometer 38 and the rate gyroscope 39 are respectively installed on the left and right sides of the roll support 33.

[0076] Referring to Figure 7 The Figure 4 The roll mechanism 2 in the embodiment of the application comprises a roll motor 20, a harmonic reducer 10', a roll input shaft 21, a roll input shaft 22, a roll output shaft 23, a self-aligning ball bearing 14', a bearing baffle 24, a locking nut 25, a roll cover plate 26, a roll cover plate 27, a roll end cover 28, a roll end cover 29, an oil seal 16', a pressing plate 30, a pressing plate 31, a roll shell 32 and a roll support 33. The transmission principle of the roll mechanism 1 is that when the ship body swings around the X axis, the measurement and collection unit 5 can sensitively measure the antenna horizontal information and the speed information of the ship body rocking and tilting, and transmit the information to the driving control unit. After feedback by the monitoring unit and the driving control unit, the roll motor 20 is driven to rotate. The output end of the roll motor 20 is decelerated by the second harmonic reducer 10', drives the roll input shaft 21, drives the roll input shaft 22, drives the roll support 33, the antenna unit 4 and the roll output shaft 23 to rotate in the opposite direction of the ship body swinging, so as to compensate the influence of the ship body roll movement on the detection precision of the antenna 36.

[0077] Referring to Figure 8 The Figure 6The pitch mechanism 1 in the embodiment of the application is composed of a motor cover 6, a pitch motor 7, a pitch shell 8, a pitch support 9, a first harmonic reducer 10, a pitch shaft 11, a pitch shaft 12, a pitch output shaft 13, a self-aligning ball bearing 14, a bearing baffle 15, an oil seal 16, a pressing plate 17, a pressing plate 18 and a pitch gland 19. The transmission principle of the pitch mechanism 1 is that when the ship body swings around the Y axis, the measurement and collection unit 5 can sensitively measure the antenna horizontal information and the ship body swing speed information, and transmit the information to the driving control unit, and the driving control unit feeds back the information through the monitoring unit, drives the pitch motor 7 to rotate, the output end of the pitch motor 7 is decelerated through the first harmonic reducer 10, drives the pitch shaft 11, and drives the inner frame and the pitch output shaft 13 to rotate in the opposite direction of the ship body swing, so as to compensate the influence of the ship body pitch motion on the detection precision of the antenna 36.

[0078] In general, the two-axis two-frame type stable platform structure in the embodiment of the application is compact, the pitch and roll motor driven pitch and roll mechanisms are not coupled with each other, the motion form is simple and reliable, the device has a self-locking function, the whole machine is in a controllable state under the condition that the motor is not powered on, and the three-dimensional effect is as shown in Figure 9 The two-degree-of-freedom stable platform formed by the pitch and roll input shaft systems can realize the motion of the pitch and roll mechanisms within a certain angle range, compensates the influence of the ship body pitch and roll motion on the device performance, the stable platform adopts the driving form of "AC servo motor + harmonic reducer", has the advantages of fast response speed and high precision, meets the use in more occasions, and has a wide application prospect.

[0079] Although the preferred embodiments of the application have been disclosed for exemplary purposes, those skilled in the art will realize that various improvements, additions and substitutions are also possible, therefore, the scope of the application should not be limited to the above-mentioned embodiments.

Claims

1. A lightweight two-axis two-gimbal stabilized platform for shipboard antennas, characterized in that, The light two-axis two-frame stabilizing platform for the shipborne antenna comprises a support frame, a controller, a yawing mechanism, a rolling mechanism and a limiting mechanism arranged on the support frame, wherein the yawing shaft system of the yawing mechanism is perpendicular to the rolling shaft system of the rolling mechanism, and the rotating angles of the yawing mechanism and the rolling mechanism are limited by the limiting mechanism; the support frame further comprises a base, a first support and a second support arranged on the base, the rolling mechanism is arranged between the first support and the second support, and the yawing mechanism and the rolling mechanism form a cross frame structure; the rolling mechanism further comprises a rolling shell, a rolling input shaft and a rolling output shaft, the rolling shell is provided with a rolling support, and a rolling motor is arranged in the rolling shell, the rolling motor is controlled by the controller to drive the rolling mechanism to rotate around the rolling input shaft within a preset rolling angle range, and the rolling input shaft is parallel to the central axis between the first support and the second support; the yawing mechanism further comprises a yawing motor, a yawing input shaft and a yawing output shaft, the yawing input shaft is arranged on the first support, one end of the yawing input shaft is connected with the yawing motor, the other end of the yawing input shaft is fixed on the rolling shell, the yawing output shaft is arranged on the second support, one end of the yawing output shaft is arranged on the second support, and the other end of the yawing output shaft is fixed on the rolling shell; the yawing motor is controlled by the controller to drive the yawing input shaft and an inner frame part to rotate within a preset yawing angle range, and finally drive the antenna unit as a whole to rotate; the rolling shell is provided with an antenna unit, an inclinometer and a velocity gyroscope, the horizontal information of the antenna unit is measured by the inclinometer, and the velocity information of the ship body rocking and tilting is measured by the velocity gyroscope; the controller calculates the yawing angle and the yawing angle for compensating the balance of the antenna unit according to the measured horizontal information of the antenna unit and the velocity information of the ship body rocking and tilting in real time, and controls the rolling mechanism and the yawing mechanism to rotate based on the calculated yawing angle and yawing angle, so that the antenna unit is kept in a horizontal position; the rolling mechanism further comprises a second harmonic reducer, the rolling mechanism is driven by the rolling motor, the rolling input shaft and the rolling support are driven to rotate after being decelerated by the second harmonic reducer, and finally the antenna unit is driven to swing by the rolling support; the yawing mechanism further comprises a first harmonic reducer, the yawing mechanism is driven by the yawing motor, the yawing input shaft is driven to rotate after being decelerated by the first harmonic reducer, and then the rolling mechanism and the yawing output shaft are driven to rotate, and finally the antenna unit is driven to swing by the rolling mechanism.

2. The light two-axis two-frame stabilizing platform for the shipborne antenna according to claim 1, wherein ​ The roll support includes two support arms and a support platform, the support platform is connected to both sides of the central shaft of the roll housing through the two support arms, and the antenna unit, the inclinometer and the velocity gyroscope are fixed through the support platform.

3. The light two-axis two-frame stabilizing platform for shipborne antennas according to claim 1, characterized in that, The roll housing is cylindrical, and the roll input shaft and the roll output shaft are arranged at both ends of the central shaft of the roll housing. The roll motor is driven to rotate the roll input shaft through the second harmonic reducer, and the roll support is driven to rotate by the roll input shaft, thereby driving the antenna unit and the roll output shaft to rotate.

4. The light two-axis two-frame stabilizing platform for shipborne antennas according to any one of claims 1-3, characterized in that, The pitch mechanism further includes a pitch housing, the pitch housing is arranged outside the pitch motor and connected to the first support.

5. The light two-axis two-frame stabilizing platform for shipborne antennas according to any one of claims 1-3, characterized in that, The limiting mechanism includes a roll stopper and a pitch stopper, wherein the roll stopper is arranged on the first support and / or the second support, and the pitch stopper is arranged on the base; The roll stopper is used to limit the rotation angle of the roll mechanism; The pitch stopper is used to limit the rotation angle of the pitch mechanism.

6. The light two-axis two-frame stabilizing platform for shipborne antennas according to claim 5, characterized in that, The roll stopper is two, arranged on the top of the first support and the second support respectively; The pitch stopper is also two, symmetrically arranged on the base.

7. The light two-axis two-frame stabilizing platform for shipborne antennas according to any one of claims 1-3, characterized in that, The preset pitch angle range is ±10°, and the preset roll angle range is ±20°.

8. The light two-axis two-frame stabilizing platform for shipborne antennas according to any one of claims 1-3, characterized in that, The inclinometer and the velocity gyroscope are symmetrically arranged on both sides of the antenna unit.

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