A two-axis four-frame servo platform

Abstract

The present invention discloses a two-axis four-frame servo platform, comprising an outer frame azimuth axis system, an outer frame pitch axis system and an inner frame axis system; on the basis of retaining the two advantages of high stability and no over-the-top problem of the conventional two-axis four-frame, the size of the equipment is greatly reduced, the outer envelope is more conducive to aerodynamic optimization, and is also more conducive to broadening the application spectrum, and the stacked assembly form is more convenient for adjustment; the inner frame adopts a translation pair linear actuation, and the load is uniquely mapped in the yaw and pitch motion of the bearing plane. At the same time, the angle information is converted into length information, which is equivalent to unequal proportion magnification, the size is further subdivided, the propulsion force also has room for improvement, and the system accuracy and dynamic performance are greatly improved; the inner frame three-feedback closed-loop control further improves the operation accuracy and stability of the inner frame system.

Description

Technical Field

[0001] The invention belongs to the field of photoelectric tracking and stabilizing platforms, and in particular relates to a two-axis four-frame servo platform. Background Art

[0002] The two-axis four-frame servo platform is usually used as an airborne optoelectronic tracking and stabilization platform, mainly equipped on unmanned aerial vehicles for military reconnaissance or tracking and aiming. The carrier environment has a large vibration frequency range, and external environmental interference such as external atmospheric turbulence and scattering has a direct or indirect impact on the tracking and aiming of the airborne optoelectronic tracking and stabilization platform. Due to the particularity of the airborne environment, the optimization direction of the optoelectronic tracking and stabilization platform is lighter weight, smaller external dimensions, better anti-interference ability, higher tracking and aiming accuracy, and higher response frequency.

[0003] The conventional two-axis four-frame optoelectronic platform structure is as follows: Figure 1 As shown, it includes a base 1, an external azimuth motor 2, an external azimuth A frame 3, an external pitch motor 4, an external pitch E frame 5, an internal azimuth motor 6, an internal azimuth a frame 7, an internal pitch motor 8, an internal pitch e frame 9 and a stable load 10; wherein, the external frame (external azimuth, external pitch) plays a following role in the collaborative action, and the internal frame (internal azimuth, internal pitch) plays an active tracking role with high dynamics and high precision, and performs angular motion isolation and compensation for the vibration from the carrier, the turbulent disturbance of the external atmosphere and the friction torque. The conventional two-axis four-frame optoelectronic platform solves the high stability accuracy and over-the-top problem that two-axis two-frame (azimuth and pitch) cannot achieve (over-the-top problem: a stable tracking platform with a two-axis mechanical structure, namely the azimuth axis and the pitch axis. When the elevation angle of the tracking target is too large, the rate of change of the azimuth angle will also increase accordingly, and the error of the azimuth axis will become very large, seriously affecting the tracking accuracy of the platform. Especially when the target reaches the zenith, the rate of change of the azimuth angle approaches infinity, and the azimuth axis will lose its function, causing the platform to lose the tracking target). The disadvantage is that the two-axis four-frame is essentially two sets of mechanisms, which increases the size and weight of the equipment. In addition, the assembly process has extremely high requirements on coaxiality, parallelism and orthogonality, making it inconvenient to adjust, the disturbance torque is large, and high activity space requirements are required.

[0004] Technical parameters of domestic airborne optoelectronic tracking and stabilization platform:

[0005]

[0006]

[0007] Technical parameters of foreign airborne optoelectronic tracking and stabilization platforms:

[0008] model Range(°) Dimensions (mm) Weight(kg) Sonoma EO 474, USA Azimuth 360°×n, elevation +30°~-120° Φ528×610 85 American LEO-Ⅲ-HD Azimuth 360°×n, elevation +30°~-120° Φ500×523 45 Canadian MX-25D Azimuth 360°×n, elevation +20°~-120° Φ533×667 90.7 Canadian MX-15D Azimuth 360°×n, elevation +20°~-120° Φ419×495 52 American MTS-B Azimuth 360°×n, elevation +20°~-120° Φ384×596 80 Israel ESP-600C Azimuth 360°×n, pitch +10°~-110° Φ300×435 42 Israel Toplight Azimuth 360°×n, elevation +15°~-110° Φ380×650 60 Israel MOSP Azimuth 360°×n, elevation +15°~-110° Φ360×520 50 Summary of the invention

[0009] The purpose of the present invention is to provide a two-axis four-frame servo platform, which can reduce the size of the equipment, make adjustment more convenient, and improve the operation accuracy and stability.

[0010] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0011] A two-axis four-frame servo platform includes an outer frame azimuth axis system, an outer frame pitch axis system and an inner frame axis system; wherein:

[0012] The outer frame azimuth axis system includes an azimuth base, an azimuth motor, an azimuth end cover, an azimuth encoder, an azimuth shaft and an azimuth bearing; the outer frame azimuth axis system takes the azimuth base as the base, the outer ring of the azimuth motor is installed on the azimuth base in a manner of fixed connection between the azimuth motor pressure ring and the azimuth base, the inner ring of the azimuth motor and the azimuth end cover are fixedly installed, the azimuth encoder is nested inside the azimuth motor, the azimuth end cover and the inner ring of the azimuth encoder and the azimuth shaft are fixedly installed, the azimuth shaft and the inner ring of the azimuth bearing are fixedly installed, and the outer ring of the azimuth encoder and the outer ring of the azimuth bearing are installed on the azimuth base in a manner of fixed connection between the azimuth encoder pressure ring and the azimuth base; the azimuth motor is used as the driving mechanism and the azimuth bearing is used as the supporting component to realize n×360° azimuth rotation;

[0013] The outer frame pitch axis system comprises a pitch base, a first pitch bracket, a second pitch bracket, a pitch motor stator, a first pitch bearing cover, a first pitch bearing, a first pitch axis, a pitch motor rotor, a first pitch rocker arm, a second pitch rocker arm, an inner frame support plate, a second pitch axis, a pitch encoder rotor, a second pitch bearing, a second pitch bearing cover, a pitch encoder stator, a pitch axis motor and a rotary transformer; the outer frame pitch axis system takes the pitch base as a base, the pitch base and the azimuth bearing inner ring are fixedly installed, the first pitch bracket and the second pitch bracket are respectively arranged at two ends of the pitch base; the pitch motor stator and the first pitch bearing cover are fixedly installed on the first pitch bracket, the first pitch bearing is arranged in the first pitch bearing cover, and the first pitch bearing is arranged in the first pitch bearing The first pitch axis is connected to the circle, one end of the first pitch axis is fixedly connected to the pitch motor rotor, and the other end is fixedly connected to the first pitch rocker arm; the first pitch rocker arm and the second pitch rocker arm are respectively arranged at both ends of the inner frame support plate, the second pitch rocker arm and one end of the second pitch axis are fixedly installed, the pitch encoder rotor and the second pitch axis are fixedly installed, the second pitch bearing is arranged at the other end of the second pitch axis, the second pitch bearing is arranged in the second pitch bearing cover, the second pitch bearing cover and the second pitch bracket are fixedly installed, and the pitch encoder stator and the second pitch bearing cover are fixedly installed; the outer frame pitch axis motor and the rotary transformer are respectively mounted at both ends of the outer frame pitch base, the two axes are connected through the rocker arm and the inner frame support plate to form the pitch axis, and the bearings at both ends of the pitch axis are used for rotation support;

[0014] The inner frame shaft system includes a universal joint, an inner frame load plate, a first push sub-bracket, a second push sub-bracket, a first push pair, a second push pair, a first inner frame encoder, a second inner frame encoder and a load; the inner frame shaft system takes the inner frame support plate as a base, the universal joint is fixedly connected to the inner frame support plate and the inner frame load plate, the first push sub-bracket and the second push sub-bracket are fixedly installed on the inner frame load plate, one end of the first push pair and the second push pair are respectively fixedly installed with the first push sub-bracket and the second push sub-bracket through a ball joint, and the other end is fixedly installed with the inner frame support plate; the first inner frame encoder and the second inner frame encoder are fixedly installed at both ends of the universal joint in an orthogonal manner; the load is carried on the inner frame load plate.

[0015] Furthermore, the universal joint is fixedly mounted on the inner frame support plate through two ear seats, and is fixedly mounted through another two ear seats and the inner frame load plate.

[0016] Furthermore, the first push rod and the second push rod are integrated with electric push rods and potentiometers to achieve precise servo control at any position within the travel range.

[0017] Furthermore, the outer frame pitch axis system also includes a first pitch axis mechanical limit block, a second pitch axis mechanical limit block, a third pitch axis mechanical limit block and a fourth pitch axis mechanical limit block; the first pitch axis mechanical limit block and the second pitch axis mechanical limit block are fixedly installed on the first pitch bracket, and the third pitch axis mechanical limit block and the fourth pitch axis mechanical limit block are fixedly installed on the second pitch bracket; the first pitch axis mechanical limit block, the second pitch axis mechanical limit block, the third pitch axis mechanical limit block and the fourth pitch axis mechanical limit block are respectively installed with a first pitch axis damping block, a second pitch axis damping block, a third pitch axis damping block and a fourth pitch axis damping block.

[0018] Furthermore, the two linear displacement values ​​of the first thrust pair and the second thrust pair are uniquely mapped to the two angle values ​​of yaw and pitch of the coupled inner frame.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] 1. The present invention improves the two-axis four-frame structure. On the basis of retaining the two advantages of high stability and no over-the-top problem of the conventional two-axis four-frame, the size of the equipment is greatly reduced. The outer envelope is more conducive to aerodynamic optimization and is also more conducive to broadening the application spectrum. At the same time, the stacked assembly form is more convenient for adjustment (there is no requirement for coaxiality, parallelism, etc. between the two axes of the inner frame and the two axes of the outer frame);

[0021] 2. The maximum cross-sectional envelope is 252mm×188mm×170mm, which is about 63.5% smaller than the minimum two-axis four-frame servo platform (Φ260mm×420mm);

[0022] 3. The inner frame adopts translational linear actuation, which uniquely maps the yaw and pitch motion of the load on the load-bearing plane. At the same time, the angle information is converted into length information, which is equivalent to unequally proportional magnification. The size is further subdivided, the propulsion force can also be improved, and the system accuracy and dynamic performance are greatly improved;

[0023] 4. The inner frame three-feedback closed-loop control further improves the operating accuracy and stability of the inner frame system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a conventional two-axis four-frame optoelectronic platform;

[0025] Figure 2 It is the outer contour dimension diagram of the present invention;

[0026] Figure 3 is a schematic diagram of load installation of the present invention;

[0027] Figure 4 It is a schematic diagram of the outer frame structure of the present invention;

[0028] Figure 5 It is a schematic diagram of the inner frame structure of the present invention.

[0029] In the figure: 1-base, 2-external azimuth motor, 3-external azimuth A frame, 4-external pitch motor, 5-external pitch E frame, 6-inner azimuth motor, 7-inner azimuth a frame, 8-inner pitch motor, 9-inner pitch e frame, 10-stable load, 101-azimuth base, 102-azimuth motor, 103-azimuth end cover, 104-azimuth encoder, 105-azimuth axis, 106-azimuth bearing, 107-azimuth motor pressure ring, 108-azimuth encoder pressure ring, 201-pitch base, 202-first pitch bracket, 203-second pitch bracket, 204-pitch motor stator, 205-first pitch bearing cover, 206-first pitch bearing, 207-first pitch axis, 208-pitch motor rotor, 209-first pitch rocker arm, 210-second pitch rocker arm, 211-inner frame support plate, 212-second pitch axis, 213-pitch encoder rotor, 214-second pitch bearing, 215-second pitch bearing cover, 216-pitch encoder stator, 301-universal joint, 302-inner frame load plate, 303-first horizontal push sub-bracket, 304-second horizontal push sub-bracket, 305-first horizontal push sub, 306-second horizontal push sub, 307-first inner frame encoder, 308-second inner frame encoder, 309-ear seat, 310-load, 401-first pitch axis mechanical limit block, 402-second pitch axis mechanical limit block, 403-third pitch axis mechanical limit block, 404-fourth pitch axis mechanical limit block, 405-first pitch axis damping block, 406-third pitch axis damping block, 407-control box. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation methods described herein are used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various implementation methods of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] In order to achieve high-precision, long-stroke, lightweight and miniaturized photoelectric tracking, the present invention provides a two-axis four-frame servo platform, especially an inner and outer frame, the outer frame has a large rotation range of follow-up, and the inner frame is a high dynamic and high-precision active servo tracking platform. It adopts a two-axis four-frame configuration. The outer frame is responsible for large-stroke follow-up, and the inner frame is responsible for high-precision tracking stability and airborne disturbance isolation, thereby improving the load response frequency.

[0032] Among them, the outer frame adopts the conventional servo solution of direct drive motor + rotary transformer. The direct drive motor ensures the execution accuracy of the system and avoids the reducer to increase the radial space requirements. The rotary transformer ensures the servo feedback accuracy in harsh environments. The inner frame adopts the linear servo solution of electric push rod + potentiometer. The extension and retraction of the electric push rod drives the yaw and pitch of the inner frame. The linear potentiometer also serves as an analog sensor to sense the linear displacement of the electric push rod; at the same time, two encoders are arranged on the bottom universal joint to feedback the real-time angle value of the yaw and pitch of the inner frame, calibrate the compensation and correct the errors caused by the inner frame structure and calculation transformation, and add the optical feedback of the real-time position of the target at the load end, so that the inner frame forms a three-feedback closed-loop control. The specific structure is as follows:

[0033] like Figure 4 As shown, the internal structural parts use the azimuth base 101 as the base, the outer ring of the azimuth motor 102 is pressed and installed in a way that the azimuth motor pressure ring 107 and the azimuth base 101 are fixedly connected, the inner ring of the azimuth motor 102 and the azimuth end cover 103 are fixedly installed, the azimuth end cover 103 and the inner ring of the azimuth encoder 104 and the azimuth shaft 105 are fixedly installed, the azimuth shaft 105 and the inner ring of the azimuth bearing 106 are fixedly installed, the outer ring of the azimuth encoder 104 and the outer ring of the azimuth bearing 106 are fixedly installed, the azimuth encoder 104 and the azimuth bearing 106 are fixedly installed on the azimuth encoder pressure ring 108, and the azimuth encoder pressure ring 108 is fixedly installed on the azimuth base 101. The outer frame azimuth uses the azimuth base 101 as the installation reference, the azimuth motor 102 as the driving mechanism, and the azimuth bearing 106 as the supporting component, which can realize n×360° azimuth rotation, and the azimuth encoder 104 is nested inside the azimuth motor 102.

[0034] like Figure 4As shown, the outer frame pitch axis system uses the pitch base 201 as a base, the pitch base 201 and the inner ring of the azimuth bearing 106 are fixedly installed, the first pitch bracket 202 and the second pitch bracket 203 are respectively arranged at both ends of the pitch base 201, the first pitch bracket 202 is fixedly installed with a pitch motor stator 204 and a first pitch bearing cover 205, the first pitch bearing 206 is arranged in the first pitch bearing cover 205, the inner ring of the first pitch bearing 206 is connected to the first pitch axis 207, one end of the first pitch axis 207 is fixedly connected to the pitch motor rotor 208, and the other end of the first pitch axis 207 is connected to the first The pitch rocker arm 209 is fixedly connected, the first pitch rocker arm 209 and the second pitch rocker arm 210 are respectively arranged at both ends of the inner frame support plate 211, the second pitch rocker arm 210 and one end of the second pitch axis 212 are fixedly installed, the pitch encoder rotor 213 and the second pitch axis 212 are fixedly installed, the second pitch bearing 214 is arranged at the other end of the second pitch axis 212, the second pitch bearing 214 is arranged in the second pitch bearing cover 215, the second pitch bearing cover 215 and the second pitch bracket 203 are fixedly installed, and the pitch encoder stator 216 and the second pitch bearing cover 215 are fixedly installed. The outer frame pitch axis motor and the rotary transformer are respectively mounted at both ends of the outer frame pitch base 201, and the two axes are connected through the rocker arm and the inner frame support plate 211 to form a pitch axis, and bearings are arranged at both ends of the pitch axis for rotation support.

[0035] like Figure 3 and Figure 5As shown, the inner frame shaft system uses the inner frame support plate 211 as the base, the universal joint 301 is fixedly installed on the inner frame support plate 211 through two ear seats 309, and is fixedly installed on the inner frame load plate 302 through another two ear seats 309. The first horizontal push sub-bracket 303 and the second horizontal push sub-bracket 304 are fixedly installed on the inner frame load plate 302. One end of the first horizontal push sub-bracket 305 and the second horizontal push sub-bracket 306 are respectively fixedly installed with the first horizontal push sub-bracket 303 and the second horizontal push sub-bracket 304 through a ball joint, and the other end is fixedly installed with the inner frame support plate 211. The first inner frame encoder 307 and the second inner frame encoder 308 are fixedly installed at both ends of the universal joint 301 in an orthogonal manner. The first horizontal push sub-bracket 305 and the second horizontal push sub-bracket 306 have integrated electric push rods and potentiometers. The first pitch axis mechanical limit block 401, the second pitch axis mechanical limit block 402, the third pitch axis mechanical limit block 403 and the fourth pitch axis mechanical limit block 404 are respectively installed with the first pitch axis damping block 405, the second pitch axis damping block, the third pitch axis damping block 406 and the fourth pitch axis damping block. The first pitch axis mechanical limit block 401 and the second pitch axis mechanical limit block 402 are fixedly installed on the first pitch bracket 202, and the third pitch axis mechanical limit block 403 and the fourth pitch axis mechanical limit block 404 are fixedly installed on the second pitch bracket 203 to prevent the pitch axis from hitting the frame and causing irreversible deformation or damage when the pitch axis exceeds the limit. The load 310 is mounted on the inner frame load plate 302 and is controlled by the control box 407.

[0036] The reference platform and the load platform are connected via a universal joint 309. The two linear displacement values ​​L1 and L2 can be uniquely mapped to the coupled inner frame yaw and pitch angle values ​​θ1 and θ2 after calculation and transformation.

[0037] The micro linear thrust pair integrates a micro motor, a reducer and a screw mechanism, etc., which can achieve precise servo control at any position within the travel range.

[0038] like Figure 2 As shown, the maximum cross-sectional shape envelope is 252mm×188mm×170mm, which is about 63.5% smaller than the maximum shape envelope volume of the smallest two-axis four-frame servo platform (Φ260mm×420mm).

[0039] In summary, in order to optimize the external dimensions of the traditional two-axis four-frame, the present invention improves the internal frame structure configuration and converts the two-axis system of azimuth and pitch into a flat-push design scheme for yaw and pitch. The flat-push design scheme of the internal frame is different from the traditional two-dimensional orthogonal rotation pair transmission mode. It adopts a translation pair linear actuation to push the load to achieve -5° to 5° yaw and pitch motion on the load plane. At the same time, due to the axial arrangement of the actuated servo components, no radial space is occupied, thereby achieving a significant reduction in overall size.

[0040] While retaining the advantages of high stability and no overhead problem of the conventional two-axis four-frame, the present invention greatly reduces the size of the equipment. The outer envelope is more conducive to aerodynamic optimization and is also more conducive to broadening the application spectrum. At the same time, the stacked assembly form is more convenient for adjustment (there are no requirements for coaxiality and parallelism between the two axes of the inner frame and the two axes of the outer frame). After being replaced with a translation pair linear actuation, the angle information is converted into length information, which is equivalent to unequal proportion magnification. The size is further subdivided, the propulsion force also has room for improvement, and the system accuracy and dynamic performance are greatly improved. The three-feedback closed-loop control of the inner frame also further improves the operation accuracy and stability of the inner frame system.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A two-axis four-frame servo platform, characterized in that: It includes the outer frame azimuth axis system, the outer frame pitch axis system and the inner frame axis system; among which: The outer frame azimuth axis system includes an azimuth base, an azimuth motor, an azimuth end cover, an azimuth encoder, an azimuth shaft and an azimuth bearing; the outer frame azimuth axis system takes the azimuth base as the base, the outer ring of the azimuth motor is installed on the azimuth base in a manner of fixed connection between the azimuth motor pressure ring and the azimuth base, the inner ring of the azimuth motor and the azimuth end cover are fixedly installed, the azimuth encoder is nested inside the azimuth motor, the azimuth end cover and the inner ring of the azimuth encoder and the azimuth shaft are fixedly installed, the azimuth shaft and the inner ring of the azimuth bearing are fixedly installed, and the outer ring of the azimuth encoder and the outer ring of the azimuth bearing are installed on the azimuth base in a manner of fixed connection between the azimuth encoder pressure ring and the azimuth base; the azimuth motor is used as the driving mechanism and the azimuth bearing is used as the supporting component to realize n×360° azimuth rotation; The outer frame pitch axis system comprises a pitch base, a first pitch bracket, a second pitch bracket, a pitch motor stator, a first pitch bearing cover, a first pitch bearing, a first pitch axis, a pitch motor rotor, a first pitch rocker arm, a second pitch rocker arm, an inner frame support plate, a second pitch axis, a pitch encoder rotor, a second pitch bearing, a second pitch bearing cover, a pitch encoder stator, a pitch axis motor and a rotary transformer; the outer frame pitch axis system takes the pitch base as a base, the pitch base and the azimuth bearing inner ring are fixedly installed, the first pitch bracket and the second pitch bracket are respectively arranged at two ends of the pitch base; the pitch motor stator and the first pitch bearing cover are fixedly installed on the first pitch bracket, the first pitch bearing is arranged in the first pitch bearing cover, and the first pitch bearing is arranged in the first pitch bearing The first pitch axis is connected to the circle, one end of the first pitch axis is fixedly connected to the pitch motor rotor, and the other end is fixedly connected to the first pitch rocker arm; the first pitch rocker arm and the second pitch rocker arm are respectively arranged at both ends of the inner frame support plate, the second pitch rocker arm and one end of the second pitch axis are fixedly installed, the pitch encoder rotor and the second pitch axis are fixedly installed, the second pitch bearing is arranged at the other end of the second pitch axis, the second pitch bearing is arranged in the second pitch bearing cover, the second pitch bearing cover and the second pitch bracket are fixedly installed, and the pitch encoder stator and the second pitch bearing cover are fixedly installed; the outer frame pitch axis motor and the rotary transformer are respectively mounted at both ends of the outer frame pitch base, the two axes are connected through the rocker arm and the inner frame support plate to form the pitch axis, and the bearings at both ends of the pitch axis are used for rotation support; The inner frame shaft system includes a universal joint, an inner frame load plate, a first push sub-bracket, a second push sub-bracket, a first push pair, a second push pair, a first inner frame encoder, a second inner frame encoder and a load; the inner frame shaft system takes the inner frame support plate as a base, the universal joint is fixedly connected to the inner frame support plate and the inner frame load plate, the first push sub-bracket and the second push sub-bracket are fixedly installed on the inner frame load plate, one end of the first push pair and the second push pair are respectively fixedly installed with the first push sub-bracket and the second push sub-bracket through a ball joint, and the other end is fixedly installed with the inner frame support plate; the first inner frame encoder and the second inner frame encoder are fixedly installed at both ends of the universal joint in an orthogonal manner; the load is carried on the inner frame load plate.

2. The two-axis four-frame servo platform according to claim 1, characterized in that: The universal joint is fixedly mounted on the inner frame support plate through two ear seats, and is fixedly mounted through another two ear seats and the inner frame load plate.

3. The two-axis four-frame servo platform according to claim 1, characterized in that: The first and second push rods are integrated with electric push rods and potentiometers to achieve precise servo control at any position within the travel range.

4. The two-axis four-frame servo platform according to claim 1, characterized in that: The outer frame pitch axis system also includes a first pitch axis mechanical limit stopper, a second pitch axis mechanical limit stopper, a third pitch axis mechanical limit stopper and a fourth pitch axis mechanical limit stopper; the first pitch axis mechanical limit stopper and the second pitch axis mechanical limit stopper are fixedly installed on the first pitch bracket, and the third pitch axis mechanical limit stopper and the fourth pitch axis mechanical limit stopper are fixedly installed on the second pitch bracket; the first pitch axis mechanical limit stopper, the second pitch axis mechanical limit stopper, the third pitch axis mechanical limit stopper and the fourth pitch axis mechanical limit stopper are respectively installed with a first pitch axis damping block, a second pitch axis damping block, a third pitch axis damping block and a fourth pitch axis damping block.

5. The two-axis four-frame servo platform according to claim 1, characterized in that: The two linear displacement values ​​of the first thrust pair and the second thrust pair are uniquely mapped to the yaw and pitch angle values ​​of the coupled inner frame.

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