Three-degree-of-freedom simulation load holder device

Abstract

The invention provides a three-degree-of-freedom simulation load holder device, and relates to the technical field of holder devices. The device comprises a base and a transverse rolling transmission device arranged on the base. The pitching transmission device is arranged on the transverse rolling transmission device and is rotationally connected with the transverse rolling transmission device; the azimuth transmission device is arranged on the pitching transmission device and is rotationally connected with the pitching transmission device; the azimuth turntable is arranged on the azimuth transmission device and is rotationally connected with the azimuth transmission device; and the azimuth turntable is used for mounting a simulated load mounting rack. According to the invention, through controlling the three-axis rotation of the holder, the simulation load is ensured to always directly face the tested object in the movement process of the holder device, and the application range of the simulation load in a test scene is enlarged.

Description

Technical Field

[0001] The present invention relates to the technical field of pan / tilt devices, and in particular to a three-degree-of-freedom simulated load pan / tilt device. Background Art

[0002] The simulated load gimbal device is mostly used in physical simulation and simulation in the aerospace field. In the integrated simulation control system, the motion simulation of the target in a complex test scenario is achieved by controlling the movement of the simulated load gimbal connected to the antenna. During the movement of the gimbal device, the launch angle of the simulated load will deviate from the object under test. The gyroscope in the gimbal transmission device is used to obtain the tilt angular velocity information of the gimbal device, and the rotation angle of the simulated load gimbal is adjusted. The launch angle of the simulated load can be kept on the line connecting the simulated target and the object under test, and the simulated target track is kept within the spatial angle reachable by the object under test.

[0003] At present, this type of simulated load pan-tilt device mainly adopts the following three structural forms:

[0004] (1) Two-axis frame type: The two-axis frame type pan / tilt device includes azimuth rotation and pitch rotation, which can only meet simple azimuth angle and pitch angle compensation. It cannot ensure that the simulated load is always horizontally facing the object under test, and cannot meet the motion simulation requirements of the target in complex test scenarios;

[0005] (2) Three-axis frame form: The traditional three-axis frame gimbal device adopts the form of azimuth rotation, pitch rotation and roll rotation. Although it can ensure that the simulated load is facing the object under test, the roll device is installed at the end of the gimbal, and the simulated load is limited by the installation space of the roll device. The size of the simulated load frequency band used is greatly limited and cannot cover the various load frequency bands required for the test.

[0006] (3) Overhead three-axis form: The overhead three-axis gimbal device adopts the form of pitch rotation plus roll rotation plus lifting movement. The simulated load is fixed on the lifting device, and the overhead trajectory motion simulation of the simulated load can be realized through three-freedom motion. However, there is a lack of azimuth rotation, which cannot meet the angle compensation of the horizontal azimuth.

[0007] By comparing the three transmission schemes, it can be found that all three transmission schemes can meet the requirements of gimbal rotation, but there are still several aspects that need to be improved:

[0008] (1) Two-axis frame form: The two-axis frame form has a simple structure, compact size, light weight and small volume. It is suitable for pan / tilts with low precision requirements. For complex environmental test scenes, it cannot meet the requirements of facing the object under test.

[0009] (2) Three-axis frame form: The three-axis frame gimbal device adds roll rotation to the two-axis frame form, so that it can meet the needs of facing the object under test. However, the roll device is installed at the end of the gimbal, resulting in a limited load band size;

[0010] (3) Overhead triaxial form: Overhead triaxial form can simulate the overhead trajectory motion of the simulated load. However, it lacks azimuth rotation and cannot meet the requirements of simulating the horizontal rotation of the load. Summary of the invention

[0011] In order to address the deficiencies in the background technology, the present invention provides a three-degree-of-freedom simulated load pan-tilt device, which controls the rotation of three axes to ensure that the simulated load is always facing the object under test during the movement of the pan-tilt device, thereby increasing the scope of use of the simulated load in the test scenario.

[0012] The object of the present invention is to provide a three-degree-of-freedom simulated load pan-tilt device, comprising:

[0013] Base;

[0014] A rolling transmission device is arranged on the base;

[0015] A pitch transmission device, disposed on the roll transmission device and rotationally connected to the roll transmission device;

[0016] An azimuth transmission device, disposed on the pitch transmission device and rotationally connected to the pitch transmission device;

[0017] An azimuth turntable is arranged on the azimuth transmission device and is rotationally connected to the azimuth transmission device; the azimuth turntable is used to install a simulated load mounting frame;

[0018] The roll transmission device comprises a first driving mechanism, and the first driving mechanism and the pitch transmission device perform roll transmission;

[0019] The pitch transmission device comprises a second driving mechanism, and the second driving mechanism performs pitch transmission with the azimuth transmission device;

[0020] The azimuth transmission device comprises a third driving mechanism, and the third driving mechanism is used for driving the load mounting seat to rotate.

[0021] Preferably, the rolling transmission device further comprises:

[0022] A rolling shell, arranged on the base;

[0023] A roll axis, rotatably disposed in the roll housing, one end of which passes through the outside of the roll housing and is connected to the pitch transmission device, and the other end of which is provided with a roll accelerometer;

[0024] The first driving mechanism is disposed in the rolling housing and is in transmission connection with the rolling shaft. The first driving mechanism drives the rolling shaft to rotate laterally.

[0025] Preferably, the roll shaft passes through the portion of the roll shell and is rotatably connected to the roll shell via a sleeved four-point contact ball bearing; one end of the roll shaft located in the roll shell is sleeved with a deep groove ball bearing and rotatably connected to the roll shell; wherein the deep groove ball bearing is connected to the inner wall of the roll shell via a connecting component.

[0026] Preferably, a large rolling gear is sleeved on the portion of the rolling shaft located in the rolling housing, and a small rolling gear is provided on the output shaft of the first driving mechanism, and the large rolling gear is meshed with the small rolling gear;

[0027] A roll speed reducer is also provided between the output shaft and the first driving mechanism;

[0028] A roll locking nut is also provided on the portion of the roll shaft located inside the roll housing.

[0029] Preferably, the pitch transmission device further comprises:

[0030] A first connecting member connected to one end of the rolling shaft;

[0031] Two second connecting members, which are laterally symmetrically arranged on the first connecting member;

[0032] The azimuth transmission device is arranged between the two second connecting members;

[0033] Both sides of the azimuth transmission device are rotatably connected to the corresponding second connecting member through a pitch axis;

[0034] The second driving mechanism is disposed on any of the second connecting members and is drivingly connected to the pitch axis connected to the second connecting member;

[0035] When the second driving mechanism drives the pitch axis to rotate, the azimuth transmission device is caused to pitch and rotate.

[0036] Preferably, the second driving mechanism comprises a pitch motor and a pitch reducer drivingly connected to the pitch motor;

[0037] A pitch pinion is sleeved on the output shaft of the pitch reducer; a pitch gear is provided on the pitch shaft drivingly connected to the second driving mechanism, and the pitch pinion is drivingly connected to the pitch gear;

[0038] A pitch locking nut is also provided on the pitch shaft drivingly connected to the second driving mechanism.

[0039] Preferably, the azimuth transmission device further comprises:

[0040] An azimuth housing, both sides of which are connected to the elevation axis;

[0041] An azimuth axis is arranged in the azimuth housing and is rotatably connected to the housing through a connecting component; one end of the azimuth axis extends to the outside of the azimuth housing and is connected to the azimuth turntable, and the other end is provided with an azimuth accelerometer;

[0042] The third driving mechanism is arranged in the azimuth housing and is transmission-connected with the azimuth shaft; the third driving mechanism drives the azimuth shaft and drives the azimuth turntable to rotate.

[0043] Preferably, the third driving mechanism comprises an azimuth motor and an azimuth reducer connected to the output shaft of the azimuth motor;

[0044] An azimuth pinion is arranged on the output shaft of the azimuth reducer, an azimuth gear is arranged on the azimuth shaft, and the azimuth pinion is transmission-connected with the azimuth gear;

[0045] An azimuth locking nut is also arranged on the azimuth axis.

[0046] Preferably, the roll axis, the pitch axis transmission-connected to the second driving mechanism, and the end of the azimuth axis away from the transmission are all provided with gyroscopes.

[0047] Preferably, a simulated load for transmitting a simulated signal to the object under test is installed on the simulated load mounting frame.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The present invention provides a three-degree-of-freedom simulated load pan-tilt device. The present invention adopts a three-degree-of-freedom rotation structure, which can ensure that when the pan-tilt is in any position, the simulated load is always facing the object to be measured; the present invention adopts a three-motor coordinated working mode, which has the characteristics of high load-bearing capacity and high reliability. The rotation axes of the three degrees of freedom intersect at one point, the transmission device has a compact structure and high transmission accuracy; the present invention adopts the form of roll rotation plus pitch rotation plus azimuth rotation. The azimuth rotation device is located at the end of the pan-tilt, and there is sufficient space for the simulated load to be installed, which can cover various load frequency bands required for the test.

[0050] The invention comprises a base, a roll transmission device, a pitch transmission device, an azimuth transmission device, a simulated load, a gyroscope, an accelerometer and a controller; the base is used for fixing the pan-tilt; the roll transmission device is used for realizing roll motion; the pitch transmission device is used for realizing pitch motion; the azimuth transmission device is used for supporting the simulated load and realizing azimuth motion; the simulated load is used for transmitting a simulated signal; the gyroscope is located in the roll transmission device, the pitch transmission device and the azimuth transmission device, and is used for obtaining the tilt angular velocity information of the pan-tilt; the obtained angular velocity information is transmitted to the controller; the accelerometer is located in the three-axis transmission device, and is used for obtaining the acceleration information of the pan-tilt, and the obtained acceleration information is transmitted to the controller. The controller drives the pitch motor and the azimuth motor to realize the pan-tilt and azimuth rotation, and compensates for the angle that deviates from the object to be measured. The roll motor is driven to realize the pan-tilt rolling motion, and ensure that the simulated load on the pan-tilt is in the horizontal direction. The invention ensures that the simulated load is always facing the object to be measured during the movement of the pan-tilt device by controlling the three-axis rotation of the pan-tilt, thereby increasing the use range of the simulated load in the test scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a stereogram of the present invention;

[0052] Figure 2 is a top view of the present invention;

[0053] Figure 3 is a main cross-sectional view of the present invention;

[0054] Figure 4 is a top sectional view of the present invention;

[0055] Figure 5 It is the transmission diagram of the rolling transmission device of the present invention;

[0056] Figure 6 It is the transmission diagram of the pitch transmission device of the present invention;

[0057] Figure 7 It is the transmission diagram of the azimuth transmission device of the present invention;

[0058] Figure 8 is a motor arrangement diagram of the present invention;

[0059] Among them, 1 is the base; 2 is the roll transmission device; 3 is the pitch transmission device; 4 is the azimuth transmission device; 5 is the simulated load; 6 is the simulated load mounting frame; 7 is the roll motor; 8 is the pitch motor; 9 is the azimuth motor; 10 is the roll shell; 11 is the pitch shell; 12 is the azimuth shell; 13 is the roll axis; 14 is the pitch axis; 15 is the azimuth axis; 16 is the roll accelerometer; 17 is the pitch accelerometer; 18 is the azimuth accelerometer; 19 is the roll reducer; 20 is the pitch reducer; 21 is the azimuth reducer, and 22 is the gyroscope.

[0060] 2-1 is the rolling pinion; 2-2 is the rolling gear; 2-3 is the reducer mounting plate; 2-4 is the bearing sleeve; 2-5 is the four-point contact ball bearing; 2-6 is the deep groove ball bearing; 2-7 is the rolling locking nut; 2-8 is the accelerometer seat; 2-9 is the bearing cover;

[0061] 3-1 is the pitch pinion; 3-2 is the pitch gear; 3-3 is the reducer mounting plate; 3-4 is the auxiliary bearing cover; 3-5 is the four-point contact ball bearing; 3-6 is the deep groove ball bearing; 3-7 is the pitch locking nut; 3-8 is the accelerometer seat; 3-9 is the bearing cover; 3-10 is the auxiliary shaft;

[0062] 4-1 is the azimuth small gear; 4-2 is the azimuth large gear; 4-3 is the reducer mounting plate; 4-4 is the azimuth bearing cover; 4-5 is the four-point contact ball bearing; 4-6 is the deep groove ball bearing; 4-7 is the azimuth locking nut; 4-8 is the accelerometer seat; 4-9 is the bearing cover; 4-10 is the azimuth turntable. DETAILED DESCRIPTION

[0063] Several specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0064] The purpose of the present invention is to provide a three-degree-of-freedom simulated load pan-tilt device, so that during the movement of the pan-tilt device, the simulated load is always facing the object to be measured.

[0065] To achieve the above purpose, see Figures 1 to 8 As shown, a three-degree-of-freedom simulated load pan-tilt device comprises: a base 1, a roll transmission device 2, a pitch transmission device 3, an azimuth transmission device 4 and an azimuth turntable 4-10;

[0066] The roll transmission device 2 is arranged on the base 1; the pitch transmission device 3 is arranged on the roll transmission device 2 and is rotationally connected with the roll transmission device 2; the azimuth transmission device 4 is arranged on the pitch transmission device 3 and is rotationally connected with the pitch transmission device 3;

[0067] The azimuth turntable 4-10 is disposed on the azimuth transmission device 4 and is rotationally connected to the azimuth transmission device 4; the azimuth turntable 4-10 is used to install the simulated load mounting frame 6;

[0068] The roll transmission device 2 includes a first drive mechanism, which performs roll transmission with the pitch transmission device 3; the pitch transmission device 3 includes a second drive mechanism, which performs pitch transmission with the azimuth transmission device 4; the azimuth transmission device 4 includes a third drive mechanism, which is used to drive the load mounting seat to rotate.

[0069] The present invention forms a three-degree-of-freedom rotation structure through the roll transmission device, the pitch transmission device and the azimuth transmission device, so that when the azimuth turntable is in any position, the simulated load installed on the simulated load mounting frame always faces the object to be measured.

[0070] In order to realize the rolling of the pan / tilt, a rolling transmission device 2 is provided, which also includes a rolling housing 10, a rolling shaft 13

[0071] The roll housing 10 is disposed on the base 1; the roll shaft 13 is rotatably disposed in the roll housing 10, one end of which passes through the outside of the roll housing 10 and is connected to the pitch transmission device 3, and the other end is provided with a roll accelerometer 16;

[0072] The first driving mechanism is disposed in the rolling housing 10 and is in transmission connection with the rolling shaft 13 . The first driving mechanism drives the rolling shaft 13 to rotate laterally.

[0073] In order to further realize the rotation of the roll shaft 13, the roll shaft 13 penetrates the roll housing 10, and is rotatably connected to the roll housing 10 through the sleeved four-point contact ball bearing 2-5, and one end of the roll shaft 13 located in the roll housing 10 is sleeved with a deep groove ball bearing 2-6 and is rotatably connected to the roll housing 10; wherein the deep groove ball bearing 2-6 is connected to the inner wall of the roll housing 10 through a connecting component. Thus, the roll shaft 13 is rotatably connected to the roll housing 10.

[0074] Specifically, a large rolling gear 2-2 is sleeved on the part of the rolling shaft 13 located in the rolling housing 10, and a small rolling gear 2-1 is provided on the output shaft of the first driving mechanism, and the large rolling gear 2-2 is meshed with the small rolling gear 2-1; a rolling reducer 19 is also provided between the output shaft and the first driving mechanism;

[0075] It should be noted that the first driving mechanism is the roll motor 7, which is connected to the roll shaft 13 through the roll reducer 19; that is, the output shaft of the roll motor 7 is connected to the roll reducer 19, and the output shaft of the roll reducer 19 is connected to the roll shaft 13. Therefore, the roll motor 7 drives the roll shaft 13 through the roll reducer 19 to achieve lateral rotation.

[0076] A roll locking nut 2-7 is also provided on the portion of the roll shaft 13 located in the roll housing 10. The roll locking nut 2-7 is used to lock the roll shaft and the roll gear 2-2 during use.

[0077] In order to realize the pitch rotation of the gimbal, a pitch transmission device 3 is provided, which also includes a first connecting member, two second connecting members, and a pitch axis 14:

[0078] The first connecting member is connected to one end of the roll axis 13; the two second connecting members are laterally symmetrically arranged on the first connecting member; the azimuth transmission device 4 is arranged between the two second connecting members; both sides of the azimuth transmission device 4 are rotationally connected to the corresponding second connecting members through the pitch axis 14; the second driving mechanism is arranged on any second connecting member and is transmission-connected to the pitch axis 14 connected to the second connecting member; when the second driving mechanism drives the pitch axis 14 to rotate, the azimuth transmission device 4 is pitched and rotated.

[0079] The pitch housing 11 of the pitch transmission device 3 is formed by the first connecting member and the two second connecting members. In order to distinguish the pitch axis on the second connecting member, the pitch axis 14 which is not connected to the second driving mechanism is called the auxiliary axis 3-10.

[0080] In order to realize the pitch rotation of the azimuth transmission device driven by the pitch axis, a second driving mechanism is provided, including a pitch motor 8 and a pitch reducer 20 connected to the pitch motor 8; a pitch pinion 3-1 is sleeved on the output shaft of the pitch reducer 20; a pitch gear 3-2 is provided on the pitch axis 14 connected to the second driving mechanism, and the pitch pinion 3-1 is connected to the pitch gear 3-2; therefore, the second driving mechanism drives the pitch axis to rotate via the pitch reducer, thereby driving the azimuth transmission device to pitch;

[0081] The pitch axis 14 connected with the second driving mechanism is also provided with a pitch locking nut 3-7. During the use of the pan / tilt platform, the pitch axis and the pitch gear are locked by the pitch locking nut.

[0082] In order to realize the azimuth rotation of the movement, an azimuth transmission device 4 is set, which also includes an azimuth shell 12 and an azimuth axis 15: the azimuth shell 12 is connected to the pitch axis 14 on both sides; the azimuth axis 15 is arranged in the azimuth shell 12, and is rotatably connected with the shell through a connecting component; one end of the azimuth axis 15 extends to the outside of the azimuth shell 12 and is connected to the azimuth turntable 4-10, and the other end is provided with an azimuth accelerometer 18; the third driving mechanism is arranged in the azimuth shell 12 and is transmission-connected to the azimuth axis 15; for this purpose, the third driving mechanism drives the azimuth axis 15 and drives the azimuth turntable 4-10 to rotate.

[0083] Among them, the third driving mechanism includes an azimuth motor 9, and an azimuth reducer 21 which is transmission-connected to the output shaft of the azimuth motor 9; an azimuth pinion 4-1 is arranged on the output shaft of the azimuth reducer 21, and an azimuth gearwheel 4-2 is arranged on the azimuth shaft 15, and the azimuth pinion 4-1 is transmission-connected to the azimuth gearwheel 4-2; therefore, the transmission between the third driving mechanism and the azimuth shaft is realized.

[0084] Azimuth locking nut 4-7 is also provided on the azimuth axis 15. When the platform is used, the azimuth locking nut 4-7 is adopted to lock the azimuth axis and the azimuth gear 4-2.

[0085] In addition, the roll axis 13, the pitch axis 14 connected to the second driving mechanism, and the end of the azimuth axis 15 away from the transmission are all provided with a gyroscope 22 to respectively record the angle of each rotation direction.

[0086] It should be noted that the three-degree-of-freedom rotation structure formed by the roll transmission device, the pitch transmission device and the azimuth transmission device, that is, the roll axis, the pitch axis and the azimuth axis form three-degree-of-freedom rotation axes, wherein the roll axis and the pitch axis rotate in the same plane, and the axes of rotation of the two axes are perpendicular to each other; and the axis of rotation of the azimuth axis is perpendicular to the same plane of rotation of the roll axis and the pitch axis.

[0087] In the present invention, a simulated load 5 for transmitting a simulated signal to a measured object is installed on a simulated load mounting frame 6 .

[0088] In order to further illustrate the three-degree-of-freedom simulated load pan-tilt device provided by the present invention, the following is further described in conjunction with the accompanying drawings. Figures 1 to 8 shown.

[0089] The three-degree-of-freedom simulated load gimbal includes a base 1, a roll transmission device 2, a pitch transmission device 3, an azimuth transmission device 4, a simulated load 5, and a simulated load mounting frame 6; the base 1 is used to fix the gimbal; the roll transmission device 2 is used to realize roll movement; the pitch transmission device 3 is used to realize pitch movement; the azimuth transmission device 4 is used to support the simulated load and realize azimuth movement; the simulated load 5 is used to transmit a simulated signal to the object under test; the simulated load 5 is installed on the simulated load mounting frame 6.

[0090] The roll transmission device 2 is a two-stage gear transmission; the first stage is the roll motor 7 connected to the roll reducer 19, and the second stage is the roll pinion 2-1 connected to the roll gear 2-2. The roll gear 2-2 is connected to the roll axis 13 through a key, and the gyroscope 22 is fixed to the rear end of the roll axis to record the roll angular velocity. The front end of the roll axis is fastened to the pitch housing 11 by screws.

[0091] The azimuth transmission device 4 is a two-stage gear transmission; the first stage is the azimuth motor 9 connected to the azimuth reducer 21, and the second stage is the azimuth pinion 4-1 connected to the azimuth gear 4-2. The azimuth gear 4-2 is connected to the azimuth axis 15 through a key, and the gyroscope 22 is fixed to the lower end of the azimuth axis to record the azimuth angular velocity. The azimuth turntable 4-10 is installed on the upper end of the azimuth axis 15, the simulated load mounting frame 6 is fastened to the azimuth turntable by screws, and the simulated load 5 is fixed to the simulated load mounting frame by screws.

[0092] The pitch transmission device 3 is a two-stage gear transmission; the first stage is the pitch motor 8 connected to the pitch reducer 20, and the second stage is the pitch pinion 3-1 connected to the pitch gear 3-2. The pitch gear 3-2 is connected to the pitch axis 14 through a key, and the gyroscope 22 is fixed to the rear end of the pitch axis to record the pitch angular velocity. The front end of the pitch axis 14 is connected to the azimuth housing 12 by screws. The three degrees of freedom of roll, pitch, and azimuth adopt a series structure, and the rotation axes of the three degrees of freedom intersect at one point.

[0093] like Figure 5 As shown, the roll transmission device includes a reducer mounting plate 2-3, a roll reducer 19 is fixedly mounted on the reducer mounting plate, and a roll motor 7 is installed at the rear end of the roll reducer. The roll pinion 2-1 is connected to the roll reducer shaft, the roll pinion 2-1 is meshed with the roll gear 2-2, and the roll gear is fastened to the roll shaft 13 by a key. The two ends of the roll shaft are respectively supported on a four-point contact ball bearing 2-5 and a deep groove ball bearing 2-6, and the roll shaft and the roll gear 2-2 are locked by a roll locking nut 2-7. The four-point contact ball bearing is pressed into the roll housing by a bearing cover 2-9. An accelerometer seat 2-8 is installed at the end of the roll shaft, a roll accelerometer 16 is installed on the accelerometer seat, and a gyroscope 22 is installed at the end of the roll accelerometer. The roll transmission device realizes the roll rotation of the gimbal within the expected range.

[0094] like Figure 6 As shown, the pitch transmission device includes a reducer mounting plate 3-3, the pitch reducer 20 is fixedly mounted on the reducer mounting plate, and the pitch motor 8 is installed at the rear end of the pitch reducer. The pitch pinion 3-1 is connected to the pitch reducer rotating shaft, the pitch pinion 3-1 is meshed with the pitch gear 3-2, and the pitch gear is fastened to the pitch shaft 14 by a key. The pitch shaft is supported on a four-point contact ball bearing 3-5, and the pitch shaft and the pitch gear are locked by a pitch locking nut 3-7. The four-point contact ball bearing is pressed into the pitch housing using a bearing cap 3-9. An auxiliary shaft 3-10 is arranged at the left end of the pitch transmission device, and the auxiliary shaft is supported on a deep groove ball bearing 3-6, and the deep groove ball bearing is pressed into the pitch housing using an auxiliary bearing cap 3-4. An accelerometer seat 3-8 is installed at the end of the pitch shaft, a pitch accelerometer 17 is installed on the accelerometer seat, and a gyroscope 22 is installed at the end of the accelerometer. The pitch transmission device enables the gimbal to pitch and rotate within the expected range.

[0095] like Figure 7As shown, the azimuth transmission device includes a reducer mounting plate 4-3, an azimuth reducer 21 is fixedly mounted on the reducer mounting plate, and an azimuth motor 9 is mounted at the lower end of the azimuth reducer. The azimuth pinion 4-1 is connected to the azimuth reducer rotating shaft, the azimuth pinion 4-1 is meshed with the azimuth gearwheel 4-2, and the azimuth gearwheel is fastened to the azimuth shaft 13 by a key. The upper and lower ends of the azimuth shaft are supported on a four-point contact ball bearing 4-5 and a deep groove ball bearing 4-6 respectively, and the azimuth shaft and the azimuth gearwheel 4-2 are locked by an azimuth locking nut 4-7. The four-point contact ball bearing is pressed into the azimuth housing through a bearing cover 4-9, and the deep groove ball bearing is pressed into a bearing sleeve 4-4. An accelerometer seat 4-8 is mounted at the lower end of the roll shaft, a roll accelerometer 18 is mounted on the accelerometer seat, and a gyroscope 22 is mounted at the end of the accelerometer. The azimuth transmission device realizes azimuth rotation of the gimbal within the expected range.

[0096] Specific transmission lines such as Figure 8 As shown: First degree of freedom transmission circuit: The controller drives the roll motor 7 to control the roll motion of the gimbal. The roll motor 7 is fastened to the roll housing 10, and the motor drives the roll axis 13. The rear end of the roll axis is connected to the roll accelerometer 16 to accurately record the roll acceleration of the gimbal. Second degree of freedom transmission circuit: The host computer drives the pitch motor 8 to control the pitch motion of the gimbal. The pitch motor 8 is fastened to the pitch housing 11, and the motor drives the pitch axis 14. The rear end of the pitch axis is connected to the pitch accelerometer 17. Third degree of freedom transmission circuit: The host computer drives the azimuth motor 9 to control the azimuth motion of the gimbal. The azimuth motor 9 is fastened to the azimuth housing 12, and the motor drives the azimuth axis 15. The lower end of the azimuth axis is connected to the azimuth accelerometer 18 to accurately record the azimuth acceleration of the gimbal.

[0097] In the specific implementation, it also includes a gyroscope 22 located in the transmission device, which obtains the tilt angular velocity information of the gimbal; transmits the angle information to the controller through the connecting cable; the controller drives the pitch motor 8 and the azimuth motor 9 to realize the pitch and azimuth rotation of the gimbal, and compensates for the angle that deviates from the object being measured. Drive the roll motor 7 to realize the roll movement of the gimbal, and ensure that the simulated load on the gimbal is in the horizontal direction.

[0098] In summary, the present invention provides a three-degree-of-freedom simulated load pan-tilt device comprising a base, a roll transmission device, a pitch transmission device, an azimuth transmission device, a simulated load and a gyroscope. The roll transmission device is installed on the base, the pitch transmission device is installed at the front end of the roll transmission device, the azimuth transmission device is installed in the middle of the pitch transmission device, the simulated load is installed on the top plate of the azimuth transmission device, and the gyroscope is installed in the roll transmission device, the pitch transmission device, and the azimuth transmission device.

[0099] In the roll transmission device: the reducer mounting plate is fixed on the roll housing, the reducer is installed in the reducer mounting plate, the rear end of the reducer is connected to the motor, the reducer output shaft is installed with a roll pinion, the roll pinion is meshed with the roll gear, and the roll gear is fastened to the roll shaft by a key. The two ends of the roll shaft are supported on a four-point contact ball bearing and a deep groove ball bearing respectively, a gyroscope is arranged at the rear end of the roll shaft, the gyroscope is concentrically connected to the roll shaft, and the output end of the roll shaft is fixedly connected to the pitch housing.

[0100] In the pitch transmission device: the reducer is installed in the pitch housing, the rear end of the reducer is connected to the motor, the output shaft of the reducer is installed with a pitch pinion, the pitch pinion is meshed with the pitch gear, and the pitch gear is fastened to the pitch shaft by a key. The two ends of the pitch shaft are supported on a four-point contact ball bearing and a deep groove ball bearing respectively, the left end of the pitch shaft is connected to the azimuth housing, and the right end is connected to the gyroscope. An auxiliary shaft is arranged on the left side of the pitch transmission device, and the left end of the auxiliary shaft is connected to the limit block and the right end is connected to the azimuth housing.

[0101] In the azimuth transmission device, the reducer mounting plate is fixed on the azimuth housing, and the reducer is mounted on the reducer mounting plate. The lower end of the reducer is connected to the motor, and the output shaft of the reducer is equipped with an azimuth pinion, which meshes with the azimuth gear, and the azimuth gear is fastened to the azimuth shaft by a key. The two ends of the azimuth shaft are respectively supported on the bearings of the azimuth housing, a gyroscope is arranged at the bottom end of the azimuth shaft, the output end of the azimuth shaft is connected to the azimuth turntable, and the simulated load is fastened to the azimuth turntable by screws.

[0102] The three degrees of freedom of the gimbal are: the first degree of freedom of the gimbal is the roll rotation of the roll transmission device, and the angular range is ±30 degrees; the second degree of freedom of the gimbal is the pitch rotation of the pitch transmission device, and the angular range is ±100 degrees; the third degree of freedom of the gimbal is the azimuth rotation of the azimuth transmission device, and the angular range is 360 degrees.

[0103] In the pan-tilt device, gyroscopes and accelerometers are installed in the roll transmission device, the pitch transmission device and the azimuth transmission device. The gyroscope obtains the tilt angular velocity information, and the accelerometer is used to obtain the acceleration information of the pan-tilt. The gyroscope and the accelerometer transmit the obtained angle information to the controller; the controller drives the pitch motor and the azimuth motor to realize the pan-tilt and azimuth rotation, and compensates for the angle that deviates from the measured object. The roll motor is driven to realize the pan-tilt rolling movement, ensuring that the simulated load on the pan-tilt is in the horizontal direction.

[0104] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-degree-of-freedom load-simulating pan-tilt device, characterized in that: include: Base (1); A rolling transmission device (2) is arranged on the base (1); A pitch transmission device (3) is arranged on the roll transmission device (2) and is rotationally connected to the roll transmission device (2); An azimuth transmission device (4) is arranged on the pitch transmission device (3) and is rotationally connected to the pitch transmission device (3); An azimuth turntable (4-10) is arranged on the azimuth transmission device (4) and is rotationally connected to the azimuth transmission device (4); the azimuth turntable (4-10) is used to install a simulated load mounting frame (6); The rolling transmission device (2) comprises a first driving mechanism, and the first driving mechanism and the pitch transmission device (3) perform rolling transmission; The pitch transmission device (3) comprises a second driving mechanism, and the second driving mechanism performs pitch transmission with the azimuth transmission device (4); The azimuth transmission device (4) comprises a third driving mechanism, and the third driving mechanism is used to drive the load mounting seat to rotate.

2. The three-degree-of-freedom simulated load pan-tilt device according to claim 1, characterized in that: The rolling transmission device (2) further comprises: A rolling shell (10) is arranged on the base (1); A roll axis (13) is rotatably disposed in the roll housing (10), one end of which passes through the outside of the roll housing (10) and is connected to the pitch transmission device (3), and the other end of which is provided with a roll accelerometer (16); The first driving mechanism is arranged in the rolling housing (10) and is transmission-connected to the rolling shaft (13); the first driving mechanism drives the rolling shaft (13) to rotate laterally.

3. The three-degree-of-freedom simulated load pan-tilt device according to claim 2, characterized in that: The rolling shaft (13) passes through the portion of the rolling shell (10) and is rotatably connected to the rolling shell (10) via a sleeved four-point contact ball bearing (2-5); one end of the rolling shaft (13) located in the rolling shell (10) is sleeved with a deep groove ball bearing (2-6) and is rotatably connected to the rolling shell (10); wherein the deep groove ball bearing (2-6) is connected to the inner wall of the rolling shell (10) via a connecting component.

4. The three-degree-of-freedom simulated load pan-tilt device according to claim 3, characterized in that: A large rolling gear (2-2) is sleeved on the portion of the rolling shaft (13) located inside the rolling housing (10); a small rolling gear (2-1) is disposed on the output shaft of the first driving mechanism; and the large rolling gear (2-2) is meshed with the small rolling gear (2-1); A roll speed reducer (19) is also provided between the output shaft and the first driving mechanism; A rolling locking nut is also provided on the portion of the rolling shaft (13) located inside the rolling housing (10).

5. The three-degree-of-freedom load simulation pan-tilt device according to claim 2, characterized in that: The pitch transmission device (3) further comprises: A first connecting member connected to one end of the rolling shaft (13); Two second connecting members, which are laterally symmetrically arranged on the first connecting member; The azimuth transmission device (4) is arranged between the two second connecting members; Both sides of the azimuth transmission device (4) are rotatably connected to the corresponding second connecting member via a pitch axis (14); The second driving mechanism is arranged on any of the second connecting members and is drivingly connected to the pitch axis (14) connected to the second connecting member; When the second driving mechanism drives the pitch axis (14) to rotate, the azimuth transmission device (4) is caused to pitch and rotate.

6. The three-degree-of-freedom simulated load pan-tilt device according to claim 5, characterized in that: The second driving mechanism comprises a pitch motor (8) and a pitch reducer (20) drivingly connected to the pitch motor (8); A pitch pinion (3-1) is sleeved on the output shaft of the pitch reducer (20); a pitch gear (3-2) is provided on the pitch shaft (14) drivingly connected to the second drive mechanism, and the pitch pinion (3-1) is drivingly connected to the pitch gear (3-2); A pitch locking nut (3-7) is also provided on the pitch shaft (14) which is transmission-connected to the second driving mechanism.

7. The three-degree-of-freedom simulated load pan-tilt device according to claim 5, characterized in that: The azimuth transmission device (4) further comprises: An azimuth housing (12), both sides of which are connected to the elevation axis (14); An azimuth axis (15) is disposed in the azimuth housing (12) and is rotatably connected to the housing through a connecting component; one end of the azimuth axis (15) extends outside the azimuth housing (12) and is connected to the azimuth turntable (4-10), and the other end is provided with an azimuth accelerometer (18); The third driving mechanism is arranged in the azimuth housing (12) and is transmission-connected to the azimuth shaft (15); the third driving mechanism drives the azimuth shaft (15) and drives the azimuth turntable (4-10) to rotate.

8. The three-degree-of-freedom load simulation pan-tilt device according to claim 7, characterized in that: The third driving mechanism comprises an azimuth motor (9), and an azimuth reducer (21) drivingly connected to the output shaft of the azimuth motor (9); An azimuth pinion (4-1) is arranged on the output shaft of the azimuth reducer (21), an azimuth gear (4-2) is arranged on the azimuth shaft (15), and the azimuth pinion (4-1) is transmission-connected to the azimuth gear (4-2); An azimuth locking nut (4-7) is also provided on the azimuth shaft (15).

9. The three-degree-of-freedom simulated load pan-tilt device according to claim 7, characterized in that: The roll axis (13), the pitch axis (14) connected to the second drive mechanism in transmission, and the end of the azimuth axis (15) away from the transmission are all provided with a gyroscope (22).

10. The three-degree-of-freedom simulated load pan-tilt device according to claim 1, characterized in that: The simulated load mounting frame (6) is provided with a simulated load (5) for transmitting a simulated signal to the object under test.

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