Vehicle-mounted and ship-borne radar two-dimensional turntable with self-stabilizing function

Abstract

The invention belongs to the technical field of vehicle-mounted and ship-borne radar rotary tables, and particularly relates to a vehicle-mounted and ship-borne radar two-dimensional rotary table with a self-stabilizing function. According to the technical scheme, the vehicle-mounted and ship-borne radar two-dimensional rotary table with the self-stabilizing function comprises a base, an orientation rotary table is installed on the base, a pitching rotary table is installed at the output end of the orientation rotary table, a radar is installed at the output end of the pitching rotary table, and an orientation lock used for locking the output end of the orientation rotary table is installed on the base. A pitching lock used for locking the radar is installed at the fixed end of the pitching rotary table, and an inertial measurement unit is installed on the base. The invention provides a vehicle-mounted and ship-borne radar two-dimensional turntable with a self-stabilizing function.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle-mounted and ship-mounted radar turntables, and in particular relates to a vehicle-mounted and ship-mounted radar two-dimensional turntable with a self-stabilizing function. Background Art

[0002] In the field of vehicle-mounted and ship-mounted technology, the radar turntable is an indispensable device with functions such as search, positioning, and tracking. The turntable is used as a carrier to control the radar or antenna to achieve azimuth rotation and pitch movement. The basic functions of the turntable are: the turntable has two rotational degrees of freedom, azimuth and pitch. The azimuth rotation is achieved by the azimuth motor driving the gear transmission mechanism to drive the azimuth axis to rotate, and the pitch movement is achieved by the pitch motor driving the worm gear mechanism to drive the pitch axis to swing. The turntable as a whole also includes an inertial measurement unit and an electric control box that encapsulates the electrical control equipment.

[0003] Since cars are more flexible than ships in movement, acceleration, deceleration, sharp turns and road bumps often occur. The vibration of the car body will affect the stability of the target. When the target is highly maneuverable, the tracking capability is insufficient, the motion curve of the servo platform is not smooth enough, and target loss often occurs. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the object of the present invention is to provide a vehicle-mounted and ship-mounted radar two-dimensional turntable with a self-stabilizing function.

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

[0006] A two-dimensional turntable for vehicle-mounted and ship-mounted radars with a self-stabilizing function comprises a base, an azimuth turntable is mounted on the base, a pitch turntable is mounted on the output end of the azimuth turntable, a radar is mounted on the output end of the pitch turntable, an azimuth lock for locking the output end of the azimuth turntable is mounted on the base, a pitch lock for locking the radar is mounted on the fixed end of the pitch turntable, and an inertial measurement unit is mounted on the base.

[0007] The azimuth turntable can accurately adjust the radar azimuth, and the elevation turntable can accurately adjust the radar's elevation angle, thereby accurately controlling the radar's direction and ensuring the tracking accuracy of the vehicle-mounted turntable. The vehicle-mounted turntable moves smoothly and can respond quickly and accurately track large maneuvering targets. The elevation lock can hold the radar pins tightly to lock the radar in the elevation direction. The azimuth lock can lock the azimuth turntable at zero position to lock the radar in the circumferential direction.

[0008] The radar turntable needs to complete the specified task not only when the carrier is in a stationary state, but also when the carrier is in motion. This movement includes changes in the direction of the carrier, changes in speed, ups and downs of the carrier caused by bumps, shaking and jittering, etc. These carrier movements will affect the turntable's attitude, and then affect the turntable's positioning, tracking and other performance. Therefore, a stabilization algorithm is designed to achieve the effect of isolating the radar turntable from carrier interference and maintaining a constant speed or attitude relative to the ground in the case of carrier disturbance.

[0009] A coordinate system is established to obtain the initial coordinates of the target in the base coordinate system. When the carrier is in motion, the inertial measurement unit senses the disturbance of each axis of the turntable, and the transformation relationship from the base coordinate system to the pitch coordinate system after the disturbance is obtained according to the forward kinematics of the robot, so as to obtain the coordinates of the target in the pitch coordinate system. Finally, the azimuth and pitch angles are inversely solved from the coordinates to maintain stability and isolate disturbances when the carrier is in motion.

[0010] As a preferred embodiment of the present invention, the azimuth turntable includes an azimuth base and an azimuth turntable, the azimuth base is fixed on the base, the pitch turntable is installed on the azimuth turntable, a turntable bearing is connected between the azimuth base and the azimuth turntable, and a reduction device for driving the azimuth turntable to rotate is installed on the azimuth base.

[0011] As a preferred embodiment of the present invention, the reduction device includes an azimuth servo motor, the output end of the azimuth servo motor is connected to an azimuth reducer, and the output end of the azimuth reducer is connected to a pinion gear; the inner ring of the turntable bearing is fixed to the azimuth base, the outer ring of the turntable bearing is fixed to the azimuth turntable, the outer ring of the turntable bearing is provided with an outer gear ring, and the pinion gear is meshed with the outer gear ring.

[0012] As a preferred embodiment of the present invention, a slip ring is arranged at the center of the azimuth turntable, the slip ring includes a stator and a rotor, the stator interface is located at the bottom of the slip ring, the rotor interface is located at the top of the slip ring, the bottom of the slip ring is fixed to the azimuth base, and the top of the slip ring is fixed to the azimuth turntable.

[0013] As a preferred solution of the present invention, a hollow boss is provided in the middle of the azimuth base, a center pinion is installed on the top of the boss, a data transmission device is installed on the azimuth turntable, a double-piece gear is installed at the bottom of the data transmission device, and the double-piece gear is meshed with the center pinion.

[0014] As a preferred embodiment of the present invention, the pitch turntable includes a pitch support, which is installed on the output end of the azimuth turntable, a pitch axis assembly is rotatably installed on the pitch support, a radar is fixedly installed on the pitch axis assembly, a pitch drive assembly is also installed on the pitch support, the output end of the pitch drive assembly is connected to one end of the pitch axis assembly, and a pitch electric limit device for limiting the pitch axis assembly is also installed on the pitch support.

[0015] As a preferred embodiment of the present invention, the pitch drive assembly includes a pitch servo motor, the output end of the pitch servo motor is connected to a pitch reducer, the output end of the pitch reducer is connected to a worm, the worm is meshed with a turbine, and the turbine is installed on the pitch axis assembly.

[0016] As a preferred embodiment of the present invention, the pitch axis assembly includes a right pitch axis and a left pitch axis, the radar is fixedly installed between the right pitch axis and the left pitch axis, the right pitch axis and the left pitch axis are both rotatably connected to the pitch support, and the right pitch axis is connected to the output end of the pitch drive assembly; the pitch electric limit device includes an angle measuring axis rotatably installed on the pitch support, an angle measuring gear is installed on the angle measuring axis, a fan gear is installed on the left pitch axis, the fan gear is meshed with the angle measuring gear, two cams are installed on the angle measuring axis, and a contact switch is installed next to the cam.

[0017] As a preferred embodiment of the present invention, the pitch lock includes an electric push rod seat, which is installed on the output end of the pitch turntable. The electric push rod seat is rotatably connected to the pitch electric push rod, and the output end of the pitch electric push rod is rotatably connected to a claw. The middle section of the claw is rotatably connected to the output end of the pitch turntable. A radar pin is fixed on the radar, and the other end of the claw holds the radar pin.

[0018] As a preferred embodiment of the present invention, the azimuth lock includes a bottom connecting seat, which is fixed on the base, and an azimuth electric push rod is connected to the bottom connecting seat, and a limit pin is connected to the output end of the azimuth electric push rod, and a limit plate is fixed on the output end of the azimuth turntable, and a through hole is provided on the limit plate to cooperate with the limit pin.

[0019] The beneficial effects of the present invention are:

[0020] 1. The azimuth turntable of the present invention can accurately adjust the azimuth of the radar, and the elevation turntable can accurately adjust the elevation angle of the radar, thereby accurately controlling the direction of the radar and ensuring the tracking accuracy of the vehicle-mounted turntable. The vehicle-mounted turntable moves smoothly and can respond quickly and accurately track large maneuvering targets. The elevation lock can hold the radar pin of the radar tightly, so that the radar is locked in the elevation direction. The azimuth lock can lock the azimuth turntable at zero position, so that the radar is locked in the circumferential direction.

[0021] 2. When the carrier is in motion, the inertial measurement unit senses the disturbance of each axis of the turntable, and the transformation relationship from the base coordinate system to the pitch coordinate system after the disturbance is obtained according to the robot's forward kinematics, so as to obtain the coordinates of the target in the pitch coordinate system. Finally, the azimuth and pitch angles are inversely solved from the coordinates, so that the carrier can maintain stability and isolate disturbances when it is in motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention when the radar is in a lying state;

[0023] Figure 2It is a schematic diagram of the structure of the present invention when the radar is in an erected state;

[0024] Figure 3 It is a front view of the present invention;

[0025] Figure 4 yes Figure 3 Sectional view at AA in the middle;

[0026] Figure 5 yes Figure 3 Sectional view at the middle BB;

[0027] Figure 6 This is the main view of the pitch turntable;

[0028] Figure 7 yes Figure 6 Sectional view at CC;

[0029] Figure 8 yes Figure 6 Sectional view at DD in the middle;

[0030] Fig. 9 yes Figure 6 Sectional view at EE;

[0031] Fig.10 This is the left view of the pitch turntable;

[0032] Fig.11 yes Fig.10 Cross-sectional view at FF;

[0033] Fig.12 yes Fig.11 A partial enlarged view of the G in the middle;

[0034] Fig.13 is a top view of the present invention;

[0035] Fig.14 yes Fig.13 Sectional view at HH in the middle;

[0036] Fig.15 It is a self-stabilizing technology roadmap;

[0037] Fig.16 It is a schematic diagram of the coordinate system;

[0038] Fig.17 It is a schematic diagram of coordinate system transformation.

[0039] In the figure: 1-base; 2-azimuth turntable; 3-pitch turntable; 4-inertial measurement unit; 5-pitch lock; 6-azimuth lock; 7-radar; 21-azimuth base; 22-turntable bearing; 23-azimuth turntable; 24-speed reduction device; 25-slip ring; 26-slip ring clamp; 27-center pinion; 28-data transmission device; 29-double-piece gear; 31-pitch support; 32-pitch drive assembly; 33-pitch axis assembly; 34-pitch encoder; 35-pitch electric limit device; 51-electric push rod seat; 52-pitch Elevation electric push rod; 53-claw; 61-bottom connecting seat; 62-azimuth electric push rod; 63-limit pin; 64-limit plate; 65-azimuth lock support; 71-radar pin; 241-azimuth servo motor; 242-azimuth reducer; 243-pinion; 321-pitch servo motor; 322-pitch reducer; 323-worm; 324-turbine; 331-right pitch axis; 332-left pitch axis; 333-sector gear; 351-angle measuring gear; 352-angle measuring axis; 353-cam; 354-contact switch. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0042] like Figure 1 to Figure 15 As shown, the vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function of this embodiment includes a base 1, an azimuth turntable 2, a pitch turntable 3, an inertial measurement unit 4, a pitch lock 5, an azimuth lock 6 and the like.

[0043] The azimuth turntable 2 is mainly composed of an azimuth base 21, a turntable bearing 22, an azimuth turntable 23, a speed reducer 24, a data transmission device 28, an eccentric disk, a merge ring 25, a merge ring clamp 26, a center pinion 27, etc. Among them, the speed reducer 24 is composed of an azimuth servo motor 241, an azimuth reducer 242, and a pinion 243. The turntable bearing 22 is divided into an inner ring and an outer ring. The outer ring is connected to the azimuth turntable 23 by screws, and the inner ring is connected to the azimuth base 21 by screws. The working principle of the azimuth turntable 2 is as follows: the speed reducer 24 is fixed to the azimuth base 21 by screws and an eccentric disk. When the servo motor is driven, the azimuth servo motor 241 drives the azimuth reducer 242 to rotate, thereby driving the pinion 243 to rotate clockwise or counterclockwise. The pinion 243 is meshed with the outer ring teeth of the turntable bearing 22, thereby driving the azimuth turntable 23 to rotate.

[0044] Since the azimuth turntable 2 can rotate 360° without restriction, a slip ring 25 is designed at the center of the azimuth turntable 2 to ensure the power supply and control of the pitch axis assembly 33 and the radar 7 array. The slip ring 25 is divided into a stator and a rotor. The stator interface is located at the bottom of the slip ring 25, and the rotor interface is located at the top of the slip ring 25. The bottom of the slip ring 25 is fixed to the azimuth base 21, and the top is fixed to the azimuth turntable 23 through the slip ring clamp 26. Therefore, when the azimuth turntable 23 rotates, the rotor part of the slip ring 25 rotates synchronously. To ensure reliable waterproofing, the slip ring 25 is designed with a lower shield of the slip ring 25 and an upper shield of the slip ring 25.

[0045] The data transmission device 28 is used to measure the rotation angle of the azimuth turntable 23 in real time and feed back the relevant information to the electronic control system. A hollow boss is designed in the middle of the azimuth base 21, and the top of the boss is used to install the center pinion 27. The data transmission device 28 is fixed on the azimuth turntable 23, and a double-piece gear 29 is installed at the bottom of the data transmission device 28. The gear is meshed with the center pinion 27. When the azimuth turntable 23 rotates, the double-piece gear 29 rotates around the center pinion 27, thereby driving the encoder to rotate.

[0046] The pitch turntable 3 is mainly composed of a pitch support 31 , a pitch drive assembly 32 , a pitch axis assembly 33 , a pitch encoder 34 , a pitch electric limit device 35 and the like.

[0047] The pitch support 31 is composed of a bottom plate, a left side plate and a right side plate, and its main function is to provide support for the radar 7 and a basis for angle adjustment.

[0048] The pitch drive assembly 32 is composed of a pitch servo motor 321, a pitch reducer 322, a worm 323, a turbine 324, a sealing ring, a bearing, an end cover, etc. The worm 323 is installed in the cavity of the right side plate, and a sealing ring and a bearing are installed at both ends of the worm 323. The end cover is used for axial limit to prevent the worm 323 from axial movement. The turbine 324 is fixed on the pitch shaft assembly 33, and the turbine 324 and the worm 323 are meshed with each other to transmit power.

[0049] The pitch axis assembly 33 is mainly composed of a right pitch axis 331, a sealing ring, a bearing, a bearing end cover, a turbine 324 pressure plate, a left pitch axis 332, a fan gear 333, a locking nut, etc.

[0050] The pitch electric limit device 35 is mainly composed of an angle measuring gear 351, an angle measuring shaft 352, a bearing, a sleeve, a cam 353, a contact switch 354, an adjusting rod and the like.

[0051] The pitch servo motor 321 drives the pitch reducer 322 to rotate. The output shaft of the pitch reducer 322 is connected to the worm 323. The pitch reducer 322 drives the worm 323 to rotate. The worm 323 is engaged with the turbine 324, and the turbine 324 is fixed on the pitch axis assembly 33. Therefore, the worm 323 drives the turbine 324 to rotate, thereby driving the pitch axis assembly 33 to rotate. Since the radar 7 is fixed to the pitch axis assembly 33 by screws, it ultimately drives the radar 7 to rotate.

[0052] The left pitch shaft 332 is provided with a sector tooth 333, which meshes with the angle measuring gear 351, which is fixed to the angle measuring shaft 352. Two bearings are installed in the middle of the angle measuring shaft 352 to ensure its axial rotation and limit axial movement. The other end of the angle measuring shaft 352 is provided with a sleeve and two cams 353, which mesh with two adjustment rods respectively. The angle of the cam 353 can be adjusted by manually rotating the adjustment rod. Two contact switches 354 are installed next to the two cams 353. Since the pitch range of the radar 7 is 0° to 90°, when the operating angle of the radar 7 exceeds these two values, the cam 353 on the pitch electric limit device 35 will trigger the contact switch 354, and each cam 353 controls one limit position.

[0053] The pitch lock 5 is mainly composed of an electric push rod seat 51, a pin shaft, a pitch electric push rod 52, a pin shaft, a claw 53, a pin shaft, a pitch lock 5 bracket, etc. The two ends of the pitch electric push rod 52 are respectively connected to the electric push rod seat 51 and the claw 53. The claw 53 is connected to the pitch lock 5 bracket through a pin shaft. The claw 53 can rotate around the pin shaft. When the pitch electric push rod 52 is extended, the claw 53 can be away from the radar pin 71, thereby unlocking. When locking is required, the pitch electric push rod 52 is shortened, and the claw 53 holds the radar pin 71 tightly.

[0054] The azimuth lock 6 is mainly composed of a bottom connection seat 61, a pin shaft, an azimuth electric push rod 62, a pin shaft, a limit pin 63, a limit plate 64, an azimuth lock support 65, etc. The bottom connection seat 61 is fixed to the azimuth lock support 65 by screws. An ear seat is designed on the bottom connection seat 61, which is connected to the bottom of the azimuth electric push rod 62 by a pin shaft, and the top of the azimuth electric push rod 62 is connected to the limit pin 63 by a pin shaft; the limit plate 64 is fixed to the azimuth turntable 23 by screws and rotates with the azimuth turntable 23. When locking is required, the azimuth turntable 23 is first returned to the zero position. At this time, the hole on the limit plate 64 coincides with the center of the hole on the azimuth lock support 65, and the azimuth electric push rod 62 extends to drive the limit pin 63 to rise to the top ear plate of the azimuth lock support 65. At this time, the azimuth lock 6 is successfully locked. When unlocking is required, the azimuth electric push rod 62 retracts to drive the limit pin 63 to descend to the lower ear plate of the azimuth lock support 65, and the azimuth lock 6 is unlocked successfully.

[0055] One-key lodging workflow: Before lodging, the radar 7 is in the upright state. At this time, the value of the pitch encoder 34 is 30° (can be any angle within the range of 0° to 90°). After the electronic control system receives the lodging command issued by the host computer, the azimuth turntable 2 automatically returns to the starting position, the azimuth lock limit pin 63 extends, enters the azimuth lock support 65, and the azimuth lock 6 is locked. The host computer automatically controls the pitch turntable 3 to rotate, and the pitch angle changes from 30° to 0°. Then the host computer automatically controls the pitch electric push rod 52 to retract, thereby driving the pitch lock claw 53 to rotate around the pin shaft. When the claw 53 holds the radar pin 71 tightly, the automatic lodging is completed.

[0056] One-key erection workflow: Before erection, the radar 7 is in a lying state, and the value of the pitch encoder 34 is 0°. After the electronic control system receives the erection command issued by the host computer, the azimuth lock limit pin 63 of the azimuth turntable 2 retracts, exits the limit plate 64, and the azimuth lock 6 is unlocked. Then the host computer automatically controls the pitch electric push rod 52 to extend, thereby driving the pitch lock claw 53 to rotate around the pin shaft. When the claw 53 is completely away from the radar pin 71, the automatic lying is completed. The host computer automatically controls the pitch turntable 3 to rotate, and the pitch angle changes from 0° to 30° (can be any angle within the range of 0° to 90°), completing the automatic erection.

[0057] Self-stabilization technology implementation: The radar 7 turntable not only needs to complete the specified task when the carrier is in a stationary state, but also needs to complete the specified task when the carrier is in a moving state. This movement includes changes in the direction of the carrier, changes in speed, ups and downs of the carrier caused by bumps, shaking and jittering, etc. These carrier movements will affect the attitude of the turntable, and then affect the positioning and tracking performance of the turntable. Therefore, by designing a stabilization algorithm, the radar 7 turntable can achieve the effect of isolating the interference of the carrier and maintaining a constant speed or attitude relative to the ground in the case of carrier disturbance.

[0058] By establishing a coordinate system, the initial coordinates of the target in the base coordinate system are obtained. When the carrier is in motion, the inertial measurement unit 4 senses the disturbance of each axis of the turntable, and the transformation relationship from the base coordinate system to the pitch coordinate system after the disturbance is obtained according to the forward kinematics of the robot, so as to obtain the coordinates of the target in the pitch coordinate system. Finally, the azimuth and pitch angles are inversely solved by the coordinates, so that the carrier can maintain stability and isolate disturbances when it is in motion.

[0059] Since the azimuth and elevation of the antenna turntable need to be stably closed-loop controlled, the relationship between the carrier motion and the antenna turntable line of sight motion is first calculated through coordinate transformation: b} is the base coordinate system, {Ο z} is the carrier coordinate system, {Ο f} is the pitch coordinate system.

[0060] Assume that the target is known in the base coordinate system {Ο b} in the coordinates: b P=(x b ,y b , z b , 1) T , the carrier coordinate system is relative to the base coordinate system {Ο b} respectively around X b , Y b , Z b Rotation angle α, β, Γ; pitch coordinate system {Ο f}Relative to the carrier coordinate system {Ο z} Along Z z Directional translation distance L.

[0061] 1) Base coordinate system {Ο b} to the carrier coordinate system {Ο z}:

[0062]

[0063] 2) Carrier coordinate system z} to the pitch coordinate system {Ο f}:

[0064]

[0065] 3) Base coordinate system {Ο b} to the pitch coordinate system {Ο f}:

[0066]

[0067] 4) Solve the coordinates of the target in the pitch coordinate system {Ο f}:

[0068]

[0069] 5) Inverse solution of azimuth and elevation angle:

[0070]

[0071] By inverting the azimuth and pitch angles from the coordinates, the carrier can be kept stable and isolated from disturbances when it is in motion.

[0072] The vehicle-mounted radar 7 turntable has a high degree of automation and can be erected and lowered with one button, without any human intervention in the whole process; the transmission accuracy is high, and the pitch and rotation accuracy is as high as 0.033° (2 arc minutes).

[0073] The vehicle-mounted radar 7 turntable can isolate the carrier interference and maintain a constant speed or unchanged posture relative to the ground under complex working conditions such as changes in the direction of the carrier, changes in speed, and ups and downs, shaking and jittering caused by bumps.

[0074] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A two-dimensional turntable for vehicle-mounted and ship-mounted radars with a self-stabilizing function, characterized in that: The invention comprises a base (1), an azimuth turntable (2) is mounted on the base (1), a pitch turntable (3) is mounted on the output end of the azimuth turntable (2), a radar (7) is mounted on the output end of the pitch turntable (3), an azimuth lock (6) for locking the output end of the azimuth turntable (2) is mounted on the base (1), a pitch lock (5) for locking the radar (7) is mounted on the fixed end of the pitch turntable (3), and an inertial measurement unit (4) is mounted on the base (1).

2. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 1 is characterized in that: The azimuth turntable (2) comprises an azimuth base (21) and an azimuth turntable (23); the azimuth base (21) is fixed on the base (1); the pitch turntable (3) is mounted on the azimuth turntable (23); a turntable bearing (22) is connected between the azimuth base (21) and the azimuth turntable (23); and a reduction device (24) for driving the azimuth turntable (23) to rotate is mounted on the azimuth base (21).

3. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 2 is characterized in that: The deceleration device (24) comprises an azimuth servo motor (241), the output end of the azimuth servo motor (241) is connected to an azimuth reducer (242), and the output end of the azimuth reducer (242) is connected to a pinion gear (243); the inner ring of the turntable bearing (22) is fixed to the azimuth base (21), the outer ring of the turntable bearing (22) is fixed to the azimuth turntable (23), the outer ring of the turntable bearing (22) is provided with an outer gear ring, and the pinion gear (243) is meshed with the outer gear ring.

4. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 2 is characterized in that: A slip ring (25) is arranged at the center of the azimuth turntable (2), the slip ring (25) comprising a stator and a rotor, the stator interface is located at the bottom of the slip ring (25), the rotor interface is located at the top of the slip ring (25), the bottom of the slip ring (25) is fixed to the azimuth base (21), and the top of the slip ring (25) is fixed to the azimuth turntable (23).

5. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 2, characterized in that: A hollow boss is arranged in the middle of the azimuth base (21), a central pinion (27) is installed on the top of the boss, a data transmission device (28) is installed on the azimuth turntable (23), a double-piece gear (29) is installed at the bottom of the data transmission device (28), and the double-piece gear (29) is meshed with the central pinion (27).

6. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 1, characterized in that: The pitch turntable (3) comprises a pitch support (31), the pitch support (31) is mounted on the output end of the azimuth turntable (2), a pitch axis assembly (33) is rotatably mounted on the pitch support (31), the radar (7) is fixedly mounted on the pitch axis assembly (33), a pitch drive assembly (32) is also mounted on the pitch support (31), the output end of the pitch drive assembly (32) is connected to one end of the pitch axis assembly (33), and a pitch electric limit device (35) for limiting the pitch axis assembly (33) is also mounted on the pitch support (31).

7. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 6, characterized in that: The pitch drive assembly (32) comprises a pitch servo motor (321), the output end of the pitch servo motor (321) is connected to a pitch reducer (322), the output end of the pitch reducer (322) is connected to a worm (323), the worm (323) is meshed with a turbine (324), and the turbine (324) is mounted on the pitch axis assembly (33).

8. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 6, characterized in that: The pitch axis assembly (33) comprises a right pitch axis (331) and a left pitch axis (332), the radar (7) is fixedly installed between the right pitch axis (331) and the left pitch axis (332), the right pitch axis (331) and the left pitch axis (332) are both rotatably connected to the pitch support (31), and the right pitch axis (331) is connected to the output end of the pitch drive assembly (32); the pitch electric limit device (35) comprises an angle measuring axis (352) rotatably installed on the pitch support (31), an angle measuring gear (351) is installed on the angle measuring axis (352), a fan tooth (333) is installed on the left pitch axis (332), the fan tooth (333) is meshed with the angle measuring gear (351), two cams (353) are installed on the angle measuring axis (352), and a contact switch (354) is installed next to the cam (353).

9. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 1, characterized in that: The pitch lock (5) comprises an electric push rod seat (51), the electric push rod seat (51) is mounted on the output end of the pitch turntable (3), the electric push rod seat (51) is rotatably connected to a pitch electric push rod (52), the output end of the pitch electric push rod (52) is rotatably connected to a clamping claw (53), the middle section of the clamping claw (53) is rotatably connected to the output end of the pitch turntable (3), a radar pin (71) is fixed on the radar (7), and the other end of the clamping claw (53) tightly holds the radar pin (71).

10. The vehicle-mounted and ship-mounted radar two-dimensional turntable with self-stabilization function according to claim 1, characterized in that: The azimuth lock (6) comprises a bottom connecting seat (61), the bottom connecting seat (61) is fixed on the base (1), an azimuth electric push rod (62) is connected to the bottom connecting seat (61), an output end of the azimuth electric push rod (62) is connected to a limit pin (63), a limit plate (64) is fixed on the output end of the azimuth turntable (2), and a through hole matching the limit pin (63) is provided on the limit plate (64).

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