A control protection circuit for a two-axis turntable with lodging

Abstract

The application discloses a two-axis rotary table control protection circuit with a falling state, two travel switches are installed in series in the pitching direction, one is normally open and the other is normally closed, when the pitching angle is increased to a certain angle from zero, the normally open travel switch is attracted, the azimuth contactor coil is powered, the normally open contact of the contactor is attracted, and azimuth strong current power-on self-locking is completed. When the pitching angle is decreased to a certain angle, the normally closed travel switch is disconnected, the azimuth and pitching contactor coils are powered off, and the azimuth and pitching strong current power-off is completed; one travel switch is installed in the azimuth direction, when the azimuth angle is within a certain range, the travel switch is closed, and the pitching strong current power-on is maintained. The application avoids the problem of software limit invalidation caused by program runaway or position feedback sensor failure by increasing pure hardware electric limit in the case of being unable to install mechanical limit, and improves the safety of the equipment.

Description

Technical Field

[0001] This invention relates to a two-axis turntable device that requires limiting, and more specifically to a control and protection circuit for a two-axis turntable with tilting mechanism. Background Technology

[0002] A two-axis turntable device requiring limit positioning features an antenna that rises and deploys during operation to control the elevation and azimuth angles. When not in operation, it is retracted by folding down to facilitate vehicle movement. The two-axis turntable's operating state is as follows: Figure 1 As shown. Many turntable devices experience interference between the antenna and other structures in the azimuth direction within certain pitch angle ranges, preventing rotation. During retrieval, it's crucial to ensure the azimuth antenna angle remains within a safe range. Often, simply installing mechanical limiters cannot achieve this functionality. The patent "A Limiting Turntable Device (CN201710943867.4)" incorporates a limit baffle, but this simple, standalone mechanical limiter cannot provide coupled limit protection between azimuth and pitch. The patent "A Turntable with an Automatic Limiting Device (CN110125889A)" employs a dual protection system of a limit mechanism and a proximity switch, where the proximity switch is connected to a controller to control the motor's start and stop. However, this simple proximity switch control also fails to provide two-axis coupled limit protection, and the reliability of software-based limit protection cannot be guaranteed. When the controller fails or the program malfunctions, the limit protection function is lost. Therefore, further design is needed to improve the equipment's safety. Summary of the Invention

[0003] The purpose of this invention is to provide a control and protection circuit for a two-axis turntable with tilting mechanism to improve the reliability and safety of the two-axis turntable during operation.

[0004] The technical solution to achieve the purpose of this invention is as follows: a control and protection circuit for a two-axis turntable with tilting function, used in a two-axis turntable device that requires limit switching. Two limit switches are connected in series in the pitch direction, one normally open and one normally closed. When the pitch rises from zero to a certain angle, the normally open limit switch is activated, the azimuth contactor coil is energized, and the normally open contact of the contactor is activated, completing the azimuth power supply self-locking. When the pitch falls to a certain angle, the normally closed limit switch is de-energized, the azimuth and pitch contactor coils are de-energized, completing the azimuth and pitch power supply de-energization.

[0005] A limit switch is installed in the azimuth direction. When the azimuth angle is within a certain range and the antenna can be safely retrieved, the limit switch closes to maintain the elevation power supply.

[0006] Further, two stroke switches are installed in series in the pitch direction, S1 is a normally open stroke switch, installed at the pitch 32° position, S2 is a normally closed stroke switch, installed at the pitch 30° position, the normally open stroke switch S1, the normally closed stroke switch S2 and the contactor KM1 coil A1, A2 of the power input electric of the control azimuth driver are connected in series, the normally open stroke switch S1 and the normally open contact 13, 14 of the contactor KM1 are connected in parallel;

[0007] The initial state of the contactor KM1 is off, during the antenna lifting and unfolding work process, when the lying mechanism rises through 30°, the normally closed contact of the normally closed stroke switch S2 is first disconnected and then closed, the contactor KM1 remains off strong electric state; when rising to 32°, the normally open contact of the normally open stroke switch S1 is closed, the coil A1, A2 of the contactor KM1 is powered on, the azimuth driver is powered on, at the same time, the normally open contact 13, 14 of the contactor KM1 is also attracted, when the lying mechanism rises more than 32°, although the normally open stroke switch S1 is disconnected, the coil of the contactor KM1 can be powered on through the attracted normally open contact, and the azimuth is kept in the strong electric locking state;

[0008] During the antenna descending and recycling work process, when the lying mechanism descends through 32°, the normally open contact of the normally open stroke switch S1 is first closed and then disconnected, the contactor KM1 remains on strong electric state; when descending to 30°, the normally closed contact of the normally closed stroke switch S2 is disconnected, the coil A1, A2 of the contactor KM1 is powered off, the contactor KM1 contact is disconnected, and the azimuth driver is disconnected from the strong electric.

[0009] Further, the normally closed stroke switch S2 and the normally open contact 13, 14 of the contactor KM2 of the power input electric of the control pitch driver are connected in series, and then connected in parallel with the normally open stroke switch S3 installed in the azimuth direction, and finally connected in series with the coil A1, A2 of KM2;

[0010] When the azimuth angle is within a certain range that can safely recycle the antenna, that is, 5°~+5°, the stroke switch S3 is closed, and the coil A1, A2 of KM2 is powered on;

[0011] When the azimuth angle is not within the range of-5°~+5°, S3 is disconnected, at this time, if the lying mechanism descends through 30°, the normally closed contact of the normally closed stroke switch S2 is first disconnected, the coil A1, A2 of the contactor KM2 is powered off, at the same time, the normally open contact 13, 14 of the contactor KM2 is also disconnected, and the pitch driver is kept off strong electric state.

[0012] Compared with the prior art, the present application has the following advantages: easy to implement, low cost, after use, it solves the problem of structural interference protection under the condition that mechanical limiting cannot be installed, avoids the risk caused by software limiting failure due to program runaway or position feedback sensor failure, and improves the safety and reliability of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 Working state diagram of two-axis turntable

[0014] Figure 2 Azimuth strong current control protection circuit schematic diagram

[0015] Figure 3 Elevation strong current control protection circuit schematic diagram DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0017] The two-axis turntable control protection circuit with lodging is used for two-axis turntable equipment needing limiting. The two-axis turntable equipment includes an azimuth axis and an elevation axis, wherein the elevation axis simultaneously serves as a lodging mechanism of a recovered azimuth antenna, and the azimuth device will interfere with other structures when the elevation angle is less than a certain value. The two-axis turntable control protection circuit has two travel switches installed in series in the elevation direction (actually installed on an electric cylinder of the elevation, and can also be installed at the end of the elevation axis if the electric cylinder is not used), one of which is normally open and the other is normally closed. When the elevation is raised from zero to a certain angle, the normally open travel switch is attracted, the azimuth contactor coil is powered, the normally open contact of the contactor is attracted, and the azimuth strong current power-on self-locking is completed. When the elevation is lowered to a certain angle, the normally closed travel switch is opened, the azimuth and elevation contactor coils are powered off, and the azimuth and elevation strong current power-off is completed. A travel switch is installed in the azimuth direction (actually installed at the end of the azimuth axis), and when the azimuth angle is within a certain range, the travel switch is closed, and the elevation strong current power-on is maintained.

[0018] The azimuth antenna of the two-axis turntable can only be rotated after the elevation axis is raised to more than a certain angle, and the azimuth antenna angle must be ensured within a certain range when recovered. This situation cannot be protected by directly installing mechanical limiting or switches, and if only software limiting in the program is used, safety and reliability cannot be ensured. The present application installs travel switches at different positions respectively, cooperates with relays, and designs a pure hardware self-locking control protection circuit, which attracts strong current when the movement conditions are met, and automatically disconnects strong current when interference conditions occur, thereby improving the reliability and safety of the two-axis turntable when working.

[0019] As shown in Figure 1 , the antenna is raised and unfolded when the vehicle-mounted equipment is working, and when the elevation angle is less than 30°, the antenna and the recovery cabin will interfere in the azimuth, and therefore cannot be rotated.

[0020] As shown in Figure 2As shown, two limit switches are connected in series in the pitch direction. S1 is a normally open limit switch, installed at the 32° pitch position, and S2 is a normally closed limit switch, installed at the 30° pitch position. S1, S2, and the contactor coils A1 and A2 of KM1, which control the power input of the azimuth driver, are connected in series. The normally open contacts 13 and 14 of S1 and KM1 are connected in parallel. The initial state of contactor KM1 is open.

[0021] During the antenna's raising and deployment process, when the collapsing mechanism has risen 30°, the normally closed contact of S2 first opens and then closes, having no effect on the high-voltage circuit, and contactor KM1 remains in the disconnected high-voltage state. When it rises to 32°, the normally open contact of S1 closes, energizing coils A1 and A2 of KM1, and applying high voltage to the azimuth driver. Simultaneously, normally open contacts 13 and 14 of KM1 also engage. When the collapsing mechanism rises beyond 32°, although S1 is open, the KM1 coil can be energized through the engaged normally open contacts, maintaining the azimuth high-voltage locked state.

[0022] During the antenna descent and recovery process, when the collapsing mechanism descends to 32°, the normally open contact of S1 closes and then opens, having no effect on the high-voltage circuit, and contactor KM1 remains energized. When it descends to 30°, the normally closed contact of S2 opens, the coils A1 and A2 of KM1 are de-energized, the contacts of KM1 open, and the azimuth driver disconnects the high-voltage power.

[0023] like Figure 3 As shown, S2 and the normally open contacts 13 and 14 of the contactor KM2 that controls the power input of the pitch drive are connected in series, then in parallel with the normally open limit switch S3 installed in the azimuth direction, and finally in series with the coils A1 and A2 of KM2.

[0024] When the azimuth angle is within a certain range and the antenna can be safely retrieved, as shown in the figure (-5°~+5°), the limit switch S3 is closed, and the coils A1 and A2 of KM2 are energized.

[0025] When the azimuth angle is not within the range of -5° to +5°, S3 is disconnected. At this time, if the tilting mechanism descends to 30°, the normally closed contact of S2 will open first, and the coils A1 and A2 of KM2 will be de-energized. At the same time, the normally open contacts 13 and 14 of KM2 will also open, keeping the pitch driver in a de-energized state.

[0026] In summary, this invention designs a purely hardware-based self-locking control circuit by installing normally open and normally closed limit switches in the pitch direction and another normally open limit switch in the azimuth direction, in conjunction with a relay. This circuit draws in high voltage when the motion conditions are met and automatically disconnects high voltage when interference is possible, thereby improving the reliability and safety of the two-axis turntable during operation.

[0027] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, as long as the combinations of technical features do not contradict each other, they shall be considered within the scope of the present disclosure.

[0028] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it shall not be understood as a limitation on the scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these shall be within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A control protection circuit for a two-axis turntable with a tilt, for a two-axis turntable device requiring a limit, characterized by, Two travel switches are installed in series in the pitch direction, one is normally open and the other is normally closed, when the pitch angle rises from zero to a certain angle, the normally open travel switch is closed, the azimuth contactor coil is powered, the contactor normally open contact is closed, the azimuth strong current power is turned on and the self-locking is completed; when the pitch angle falls to a certain angle, the normally closed travel switch is opened, the azimuth and pitch contactor coils are powered off, and the azimuth and pitch strong current power is turned off; A travel switch is installed in the azimuth direction, when the azimuth angle is within a certain range, the travel switch is closed, and the pitch strong current power is turned on; Two travel switches are installed in series in the pitch direction, S1 is a normally open travel switch installed at 32° pitch, S2 is a normally closed travel switch installed at 30° pitch, the normally open travel switch S1, the normally closed travel switch S2, and the contactor KM1 coil A1, A2 for controlling the power input of the azimuth driver are connected in series, and the normally open travel switch S1 and the normally open contact 13, 14 of the contactor KM1 are connected in parallel; The normally closed travel switch S2 and the normally open contact 13, 14 of the contactor KM2 for controlling the power input of the pitch driver are connected in series, and then connected in parallel with the normally open travel switch S3 installed in the azimuth direction, and finally connected in series with the coil A1, A2 of KM2; The initial state of the contactor KM1 is open, during the antenna rising and unfolding process, when the laying mechanism rises through 30°, the normally closed contact of the normally closed travel switch S2 is closed first and then opened, the contactor KM1 remains in the open strong current state; when rising to 32°, the normally open contact of the normally open travel switch S1 is closed, the coil A1, A2 of the contactor KM1 is powered, the azimuth driver is powered on, and at the same time, the normally open contact 13, 14 of the contactor KM1 is also closed, when the laying mechanism rises more than 32°, although the normally open travel switch S1 is opened, the contactor KM1 coil is powered through the closed normally open contact, and the azimuth strong current locking state is maintained; During the antenna descending and recovering process, when the laying mechanism falls through 32°, the normally open contact of the normally open travel switch S1 is closed first and then opened, the contactor KM1 remains in the closed strong current state; when falling to 30°, the normally closed contact of the normally closed travel switch S2 is opened, the coil A1, A2 of the contactor KM1 is powered off, the contactor KM1 contact is opened, and the azimuth driver is powered off.

2. The two-axis turntable control protection circuit with droop according to claim 1, characterized in that, When the azimuth angle is within a certain range, i.e. 5°~+5°, the travel switch S3 is closed, and the coil A1, A2 of KM2 is powered; When the azimuth angle is not within the range of-5°~+5°, S3 is opened, at this time, if the laying mechanism falls through 30°, the normally closed contact of the normally closed travel switch S2 is opened first, the coil A1, A2 of the contactor KM2 is powered off, and at the same time, the normally open contact 13, 14 of the contactor KM2 is also opened, and the pitch driver is kept in the open strong current state.

3. The two-axis turntable control protection circuit with tilt according to claim 1 or 2, characterized in that The angle setting is changed according to different structural characteristics.

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