A photoelectric equipment optical axis calibration support pan-tilt device

Abstract

The present invention proposes a pan-tilt device for optical axis calibration of optoelectronic equipment, comprising: a lifting unit, an azimuth unit and a pitch unit; the optical axis calibration support device provided by the present invention provides a device for rapid auxiliary calibration of the consistency of multiple sensors of the optical axis of an optoelectronic equipment load assembly and consistency control of batch products, which solves the problem of maintaining consistency and efficient adjustment of the optical axis calibration of multiple sensors of the optical load assembly of optoelectronic equipment during batch production of optoelectronic products; further, the embodiments of the present invention aim at the problems existing in the prior art and have made improvements one by one in terms of the rationality of weight and size, multi-dimensional motion characteristics, and ease of operation.

Description

Technical Field

[0001] The invention relates to the technical field of supporting gimbal design, and in particular to a supporting gimbal device for calibrating the optical axis of an optoelectronic device. Background Art

[0002] Common precision optoelectronic turntable equipment contains multiple sensors installed on the same frame. Due to the differences in the bottom reference and installation fastening of each sensor, the optical axis of each sensor may have some deviations. How to improve the consistency of the optical axes of multiple sensors is an important part of improving the focal linkage and target tracking performance of optoelectronic equipment. The optical axis consistency index has high requirements, strictly at the single pixel level, so the optical load is required to be placed on an adjustable and stable support device during calibration, and the support device should have a stable base as much as possible and can achieve up and down, left and right, and front and back motion range adjustment. This requires not only the operator to have skilled operating skills, but also an urgent need for a calibration support gimbal device with fine motion adjustment and multi-dimensional motion.

[0003] The main function of the optical axis calibration support gimbal device is to stably carry the load component and achieve displacement movement in at least one direction, so as to ensure that the center of the optical sensor field of view coincides with the center of the target plate reflector as much as possible, and then use the infinite target reflection property of the parallel light tube device to complete the optical axis parallelism calibration adjustment of possible multi-band sensor components, and improve the parallelism of the optical axis of multiple sensors as much as possible to ensure that in actual use, when changing the sensor display screen and switching the display and control mode, the center of the field of view can accurately capture the target; the movement dimension and step accuracy of the calibration support device will directly affect the accuracy and efficiency of the optical axis calibration of the optoelectronic equipment, and then affect the efficient performance of the performance of batch optoelectronic equipment;

[0004] The traditional single-set optical axis calibration of optoelectronic equipment generally adopts the method of placing the load assembly on a scissor-type lifting platform in front of the collimator for adjustment. The advantage of this adjustment is that it can be quickly and roughly adjusted into place. The disadvantage is that the lifting vehicle can only move up and down and has a large shaking gap, which is extremely unstable and easily causes a slight angular displacement deviation of the optical load. In addition, manual rotation is sometimes required to complete the slight rotation of the optical load left and right and front and back. The movement error is large, so the adjustment cycle of a single set is long. The traditional batch optical axis calibration adjustment method is to realize multi-person calibration operation by increasing the number of manual rotations. There is a deviation in the consistency of the optical axes between the optical loads of each optoelectronic equipment, and it is impossible to ensure that the batch products have high optical axis consistency and calibration adjustment efficiency.

[0005] In view of this, there is an urgent need for a calibration support gimbal device with high universality, high precision, and multi-dimensional motion capability to realize batch rapid calibration operations of multiple sensor optical axes of different types of optical loads, thereby simplifying the calibration process of optical equipment, saving work time, and effectively improving the overall performance of optoelectronic products. Summary of the invention

[0006] The technical problem to be solved by the present invention is how to at least solve the problems of large optical axis consistency deviation and low calibration adjustment efficiency during mass production of current optoelectronic products; in view of this, the present invention provides a gimbal device for optical axis calibration support of optoelectronic equipment.

[0007] The technical solution of the present invention is a photoelectric equipment optical axis calibration support pan-tilt device, comprising: a lifting unit, an azimuth unit and a pitch unit; wherein,

[0008] The lifting unit includes: a support base, a support top plate, a support guide column, a guide column top plate, a lead screw pair, a linear bearing assembly, a lifting worm gear assembly, a lifting planetary gear reduction motor assembly, a motor bearing seat, and a lifting limit block;

[0009] The top of the screw pair is coaxially fixedly connected with the support top plate, the support guide column passes through the support top plate, the top of the support guide column is fixedly connected to the guide column top plate, and the bottom of the support guide column is fixedly connected to the support base, and the support guide column realizes the up and down linear positioning function by means of the linear bearing assembly fixed to the lower part of the support top plate, and the support base is equipped with a screw lower bearing seat at the center of the support base, the center screw shaft is installed in the upper and lower bearings and realizes position positioning by means of steps, the bottom platform of the center screw shaft is flattened and fixedly connected to the worm wheel in the worm gear assembly, and the bottom of the lifting worm gear assembly is fixed on the support base, and the lifting planetary gear reduction motor assembly is fixed on the support base and coaxially connected with the worm through a coupling, the rotation of the worm drives the worm wheel to rotate and then drives the center screw to rotate, and the rotation of the screw drives the support top plate to move up and down within a limited range, and the lifting limit blocks are respectively installed at the top and bottom of the guide column, and the up and down movement range of the support top plate is limited by the lifting limit blocks to ensure the safety of the stroke;

[0010] The azimuth unit includes: an azimuth base, an azimuth top plate, an internal gear, a pinion, an azimuth planetary gear reduction motor assembly, an azimuth photoelectric encoder assembly, an azimuth limit block, and an azimuth support bearing;

[0011] Wherein, the azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are respectively fixedly connected to the azimuth base through their own mounting brackets, the internal gear is fixed to the top inner side of the azimuth support bearing, the pinion is fixed at the flattened part of the top shaft end of the azimuth planetary gear reduction motor assembly and is tightly meshed with the internal gear, the pinion is fixed to the top shaft end of the azimuth photoelectric encoder assembly and is tightly meshed with the internal gear, the azimuth top plate is coaxially fixed to the azimuth support frame through the azimuth support bearing, and is used to drive the top pitch unit to rotate when the azimuth gear shaft system rotates, a scale groove is machined between the azimuth top plate and the azimuth base to realize the marking of the relative position of the azimuth base and the azimuth top plate and the zero position marking, the azimuth limit block is installed on the top of the azimuth top plate, and the rotation range of the azimuth top plate is limited by the azimuth limit block to ensure the safety of the azimuth rotation stroke;

[0012] The pitch unit includes: a pitch left support frame, a pitch right support frame, a pitch axis, a pitch worm gear assembly, a pitch planetary gear reduction motor assembly, a pitch photoelectric encoder assembly, and a pitch limit block;

[0013] Among them, the left and right pitch support frames are coaxially evenly installed and fixed on the left and right sides of the azimuth top plate, the centers of the left and right support frames coincide with the center of the azimuth axis system, the pitch support bearings are coaxially installed on the left and right pitch support frames, the pitch axis is coaxially installed on the left and right support bearings, and the position is positioned with the help of steps, the pitch mounting fixed plate is fixed on the pitch axis, and ensures that in the zero position, the center of the fixed plate coincides with the axis center of the azimuth axis system, the pitch photoelectric encoder assembly is coaxially fixed on the left side of the pitch axis, the pitch worm gear assembly is installed and fixed on the right side of the pitch axis, the right end of the pitch axis is milled and fixedly connected to the worm wheel in the turbine worm assembly, the bottom of the pitch worm gear assembly is fixed on the azimuth top plate, and the pitch planetary gear reduction motor is fixed on the azimuth top plate and coaxially connected to the worm.

[0014] In one embodiment, the optical axis calibration support gimbal device is a multi-dimensional driving structure, wherein the lifting unit and the pitch unit have a position self-locking function.

[0015] In one embodiment, the first rotation center axis of the screw shaft system of the lifting unit and the second rotation center axis of the orientation unit are coaxial.

[0016] In one embodiment, the second rotation center axis of the azimuth unit and the third rotation center axis of the pitch unit are in a relatively perpendicular relationship to form an orthogonal coordinate system.

[0017] In one embodiment, the support base is coaxial with the upper and lower support main bearings of the first shaft system of the lifting unit and is fixedly connected to the lower bearing seat;

[0018] The support top plate is coaxial with the upper and lower support main bearings of the first shaft system of the lifting unit and is fixedly connected to the screw pair;

[0019] The lead screw pair is coaxial with the upper and lower support bearings of the first shaft system of the lifting unit, and is coaxially fixed with the support top plate;

[0020] The worm wheel in the lifting worm gear assembly is coaxial with the screw shaft of the first shaft system of the lifting unit and is fixedly connected at the bottom by means of a milled flat feature;

[0021] The linear bearing assembly is evenly distributed and fixed on the lower part of the support top plate to realize the up and down movement positioning of the support top plate;

[0022] The top of the guide column is fixedly connected to the top plate of the guide column to form a stable supporting frame;

[0023] The lifting limit blocks are respectively fixed on the top and bottom of the guide column, and are equipped with soft rubber buffers to achieve safety protection buffering within the travel range of 0 to 100 mm of the lifting unit.

[0024] In one embodiment, the azimuth base is coaxially fixed to the support top plate of the lifting unit, is coaxially mounted to the azimuth cross roller support bearing, and is fixedly connected to the outer side of the azimuth support bearing;

[0025] The azimuth top plate is coaxially fixed with the azimuth support shaft system, coaxially installed with the azimuth cross roller support bearing, and fixedly connected with the inner side of the azimuth support bearing;

[0026] The azimuth internal gear is coaxially fixed with the azimuth support shaft system and fixedly connected to the inner side of the azimuth cross roller support bearing;

[0027] The azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are respectively fixed to the inner side wall of the azimuth base by means of their own mounting brackets, and the shaft ends are respectively fixed with pinions that mesh with the azimuth internal gears, with a transmission ratio of 1:4;

[0028] The azimuth limit blocks are respectively installed and fixed on the bottom of the azimuth top plate, and a soft rubber block is added to achieve a safety protection buffer within the azimuth rotation range of ±175°;

[0029] The position locking assembly is installed and fixed on the side of the azimuth base, and the rotation position of the azimuth unit is locked and fixed by installing soft rubber on the end and tightening it in a spiral manner.

[0030] In one embodiment, the pitch left and right support frames are coaxially and evenly installed and fixed on the left and right sides of the azimuth top plate, and their centers coincide with the center of the azimuth axis system;

[0031] The pitch axis is coaxially installed in the support bearings on both sides of the pitch left and right support frames, and the position is positioned by means of steps on both sides;

[0032] The pitch photoelectric encoder assembly is coaxially mounted on one side of the pitch axis, and the rotor is coaxially fixed with the pitch axis, and the stator is evenly fixed to the outside of the pitch support frame by means of spring leaves;

[0033] The worm wheel of the pitch worm gear assembly is fixedly connected to the right end of the pitch shaft by means of a milled flat feature, and the pitch planetary gear reduction motor assembly is installed and fixed on the azimuth top plate;

[0034] The pitch installation fixing plate is placed coaxially with the pitch axis and is fixedly connected to the pitch axis by means of a transfer support block;

[0035] The pitch limit block is fixed to the bottom of the pitch load mounting fixing plate and the top of the azimuth top plate and is made of rubber material, and is used to achieve stroke protection buffering of the pitch load within the range of ±20°.

[0036] In one embodiment, the lifting shaft system includes two upper and lower double-row angular contact ball bearing support structures, and steps are designed on both sides of the angular contact ball bearings to achieve shaft system positioning. The upper and lower angular contact ball bearings are back-to-back support structures to improve the shaft system support stiffness and the stability and accuracy of the screw rotation.

[0037] In one embodiment, the azimuth shaft system includes a set of crossed roller bearings, and the internal gear is coaxially mounted and fixed on the inner ring of the crossed roller bearings. The crossed roller bearings are bidirectionally load-bearing and are used to ensure stable rotation of the top load.

[0038] In one embodiment, the pitch axis system comprises two left and right support bearing seats, and two deep groove ball bearings are respectively installed in the bearing seats; the pitch axis system passes through the left and right support bearings, and the position is positioned by a step;

[0039] The output shaft of the pitch photoelectric encoder assembly is coaxially fixed with the pitch axis by means of a coupling, and the outer spring of the angle measuring assembly is fixed on the pitch bearing seat;

[0040] An angle scale plate is fixedly installed on the right side of the pitch axis, and the angle scale plate is used to realize the pitch zero position mark.

[0041] Compared with the prior art, the present invention has at least the following advantages:

[0042] The optical axis calibration support device provided in the embodiment of this specification provides a device for quickly assisting the calibration of the optical axis consistency of multiple sensors of the load assembly of an optoelectronic device and controlling the consistency of batch products, thereby solving the problem of maintaining consistency and efficient adjustment of the optical axis calibration of multiple sensors of the optical load assembly of an optoelectronic device during the batch production of optoelectronic products. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the composition of a photoelectric device optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the size structure of a photoelectric device optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of the structural decomposition of a photoelectric device optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0046] Figure 4 It is a schematic diagram of the overall assembly of a photoelectric device optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0047] Figure 5 It is a schematic diagram of the working range of a photoelectric equipment optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0048] Figure 6 It is a schematic diagram of the actual appearance structure of a photoelectric device optical axis calibration support pan-tilt device provided by an embodiment of the present invention;

[0049] in,

[0050] Support base-1; bearing seat-2; support bearing-3; screw pair-4; linear bearing assembly-5; lifting limit block-6; support top plate-7; guide column top plate-8; planetary gear reduction motor assembly-9; worm of lifting worm gear assembly-10; worm wheel of lifting worm gear assembly-11; hand crank-12; azimuth base-13; cross roller bearing-14; azimuth top plate-15; azimuth motor mounting bracket-16; planetary gear reduction motor assembly-17; pinion-18; encoder mounting bracket-19; azimuth photoelectric encoder assembly-20; internal gear-21; azimuth limit block-22; azimuth position locking assembly Mounting bracket-23; azimuth limit block-24; display panel-25; zeroing switch-26; lifting switch-27; azimuth switch-28; pitch switch-29; pitch support frame-30; pitch axis-31; load mounting fixing plate bracket-32; load mounting fixing plate-33; coupling-34; pitch photoelectric encoder-35; worm wheel of pitch worm gear assembly-36; worm of pitch worm gear assembly-37; pitch planetary gear reduction motor-38; quick clamping assembly-39; locking handwheel-40; pitch limit rubber block-41; scale indicator plate-42; pitch axis scale plate-43; bottom anti-skid pad-44. DETAILED DESCRIPTION

[0051] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0052] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this article have the same meaning as commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined in this article.

[0053] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] In an embodiment of the present invention, a photoelectric device optical axis calibration support gimbal device is provided. Figures 1 to 6 As shown, including:

[0055] The optical axis calibration support pan-tilt device of the optoelectronic equipment is characterized in that the calibration support pan-tilt device comprises: a lifting unit, an azimuth unit and a pitch unit; wherein,

[0056] The lifting unit includes: a support base, a support top plate, a support guide column, a guide column top plate, a lead screw pair, a linear bearing assembly, a lifting worm gear assembly, a lifting planetary gear reduction motor assembly, a motor bearing seat, and a lifting limit block;

[0057] The top of the screw pair is coaxially fixedly connected with the support top plate, the support guide column passes through the support top plate, the top of the support guide column is fixedly connected to the guide column top plate, and the bottom of the support guide column is fixedly connected to the support base, and the support guide column realizes the up and down linear positioning function by means of the linear bearing assembly fixed to the lower part of the support top plate, and the support base is equipped with a screw lower bearing seat at the center of the support base, the center screw shaft is installed in the upper and lower bearings and realizes position positioning by means of steps, the bottom platform of the center screw shaft is flattened and fixedly connected to the worm wheel in the worm gear assembly, and the bottom of the lifting worm gear assembly is fixed on the support base, and the lifting planetary gear reduction motor assembly is fixed on the support base and coaxially connected with the worm through a coupling, the rotation of the worm drives the worm wheel to rotate and then drives the center screw to rotate, and the rotation of the screw drives the support top plate to move up and down within a limited range, and the lifting limit blocks are respectively installed at the top and bottom of the guide column, and the up and down movement range of the support top plate is limited by the lifting limit blocks to ensure the safety of the stroke;

[0058] The azimuth unit includes: an azimuth base, an azimuth top plate, an internal gear, a pinion, an azimuth planetary gear reduction motor assembly, an azimuth photoelectric encoder assembly, an azimuth limit block, and an azimuth support bearing;

[0059] Wherein, the azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are respectively fixedly connected to the azimuth base through their own mounting brackets, the internal gear is fixed to the top inner side of the azimuth support bearing, the pinion is fixed at the flattened part of the top shaft end of the azimuth planetary gear reduction motor assembly and is tightly meshed with the internal gear, the pinion is fixed to the top shaft end of the azimuth photoelectric encoder assembly and is tightly meshed with the internal gear, the azimuth top plate is coaxially fixed to the azimuth support frame through the azimuth support bearing, and is used to drive the top pitch unit to rotate when the azimuth gear shaft system rotates, a scale groove is machined between the azimuth top plate and the azimuth base to realize the marking of the relative position of the azimuth base and the azimuth top plate and the zero position marking, the azimuth limit block is installed on the top of the azimuth top plate, and the rotation range of the azimuth top plate is limited by the azimuth limit block to ensure the safety of the azimuth rotation stroke;

[0060] The pitch unit includes: a pitch left support frame, a pitch right support frame, a pitch axis, a pitch worm gear assembly, a pitch planetary gear reduction motor assembly, a pitch photoelectric encoder assembly, and a pitch limit block;

[0061] Among them, the left and right pitch support frames are coaxially evenly installed and fixed on the left and right sides of the azimuth top plate, the centers of the left and right support frames coincide with the center of the azimuth axis system, the pitch support bearings are coaxially installed on the left and right pitch support frames, the pitch axis is coaxially installed on the left and right support bearings, and the position is positioned with the help of steps, the pitch mounting fixed plate is fixed on the pitch axis, and ensures that in the zero position, the center of the fixed plate coincides with the axis center of the azimuth axis system, the pitch photoelectric encoder assembly is coaxially fixed on the left side of the pitch axis, the pitch worm gear assembly is installed and fixed on the right side of the pitch axis, the right end of the pitch axis is milled and fixedly connected to the worm wheel in the turbine worm assembly, the bottom of the pitch worm gear assembly is fixed on the azimuth top plate, and the pitch planetary gear reduction motor is fixed on the azimuth top plate and coaxially connected to the worm.

[0062] The device provided in this embodiment will be described in detail below.

[0063] Generally, the optical axis calibration support device of the optoelectronic equipment includes a motion module in one or more directions, which is used to realize the optical axis consistency adjustment and calibration support of the multi-sensor optical equipment in one direction or multiple directions. During calibration, the optical axis consistency calibration operation of the multi-sensor is completed by using a target indication device simulating infinity;

[0064] At present, the common structure of the optical axis calibration support device of optoelectronic equipment is a lifting platform calibration device. A supporting plate is installed on the top of a scissor lift, and the optical load is placed on the plate. The scissor lift platform is placed in front of the collimator for manual fine-tuning to ensure that the axes of multiple optical lenses coincide as much as possible.

[0065] The optical axis calibration support device of the current optoelectronic equipment can roughly adjust the optical axis of the optical load into place, but the lifting vehicle is heavy and large in size, not suitable for field use, and can only move up and down with a large shaking gap. The foundation is extremely unstable, which easily leads to a slight angular displacement deviation of the optical load. In some cases, manual rotation is required to complete the slight rotation of the optical load left and right and front and back. The movement error is large, so the adjustment cycle of a single set is long. The traditional batch optical axis calibration and adjustment method is to realize multi-person calibration operation by increasing the number of manual rotations. There is a deviation in the consistency of the optical axes between the optical loads of each optoelectronic device, and it is impossible to ensure that the batch products have high optical axis consistency and calibration adjustment efficiency.

[0066] The present invention will improve the existing optoelectronic equipment optical axis calibration support device from the following aspects:

[0067] First, the weight size is reasonable:

[0068] The traditional calibration support device is a scissor-type lifting mechanism, which is large in size and heavy in weight, and cannot meet the needs of lightweight and portable real-time calibration of equipment in the field. The optical axis calibration support pan-tilt device involved in the present invention takes lightweight design requirements into consideration as much as possible during structural design. The support base, drive motor and transmission mechanism are all designed in a miniaturized style. A planetary gear reduction motor with a large reduction ratio and a small volume is selected to ensure that the output torque can be sufficient to drive various loads. A gear shaft system with a large transmission ratio is selected to reduce the size of the azimuth base, and an integrated cross-roller bearing is used to simplify the volume of the azimuth shaft system and reduce the overall volume and weight. A mature miniaturized worm gear drive component product is selected, which is small in size, light in weight and highly universal. The overall support frame adopts topological optimization to remove excess materials, is made of aluminum alloy, and is sprayed with wear-resistant protective paint on the surface. The overall weight is 12.8 kg and the volume size is Lightweight and portable, suitable for quick transportation and quick erection;

[0069] Then there are the multi-dimensional motion features:

[0070] Three-axis motion: The traditional optical axis calibration support device has few motion dimensions and requires manual assistance for posture fine-tuning in other directions, which has low precision and is very easy to affect the original state of the whole. It is difficult to achieve pixel-level optical axis consistency calibration; the optical axis calibration support gimbal device of the present invention can realize electric and manual adjustment in three directions of lifting, azimuth and pitch, can adjust the step angle and travel distance with the help of a precision servo drive module, and can realize self-locking at any position within the range of motion, greatly improving stability and convenience;

[0071] Driving mode: The traditional driving mode is that the servo motor drives the push rod to pull the slider to slide in the slide slot to achieve the lifting operation. The driving unit is large in size, the movement gap is large, and the stroke error is large. The optical axis calibration support pan-tilt device of the present invention adopts a miniaturized planetary gear reduction motor and is matched with a high-precision driving module to achieve precise and rapid position adjustment, and the reliability is greatly improved.

[0072] Step accuracy: The traditional driving mode has large error accumulation, and there are gaps at the hinges at the motor output shaft end, the slider hinges, the slide slots, etc., which makes it impossible to achieve precise control of the motion accuracy and step angle in each direction. The optical axis calibration support gimbal device of the present invention adopts a high-precision worm gear drive assembly and an internal gear transmission assembly, with a small transmission gap. With the help of the servo motor drive module, precise subdivision can be achieved to achieve 0.1 degree precision motion control in the azimuth and pitch directions respectively;

[0073] Finally, the ease of operation:

[0074] Manual electric: The three shaft systems are driven by the same planetary gear servo reduction motor. At the other end of the motor, a long handle structure is designed to easily realize manual drive operation. Therefore, the overall calibration mechanism is compatible with two motion modes, with two current position recognition modes of electronic digital display and scale indication, which can effectively adapt to both power-on and power-off situations;

[0075] Limit protection: Considering the load safety, the three axes are designed with servo electrical soft limit plus structural limit. Soft rubber buffer protection is installed at the structural limit end to reduce the impact of load.

[0076] Self-locking design: In the two axis systems of lifting and pitching that are prone to displacement, the worm gear assembly is designed as a self-locking structure by reasonably selecting the meshing parameters to avoid additional displacement jitter after being in place;

[0077] Quick locking: A quick locking structure is installed in the azimuth unit. The locking structure adopts a fine thread tightening design, which is self-locking and firm, making it easy to quickly lock in certain specific positions for calibration testing;

[0078] Automatic zero return: The overall three-axis motion is realized by the servo motor under the control of the drive module. The servo motion mechanism is uniformly driven by the control board through the serial port, which can realize the rapid zero return self-check operation when powered on, complete the initialization of each calibration operation, and avoid possible error accumulation data errors;

[0079] Digital display angle: Both the azimuth and pitch axis systems are designed with high-precision photoelectric encoders, which are coaxially connected to each axis and equipped with a unified encoder decoding module to calculate the current angle information relative to zero in real time, and exchange data on the control board inside the azimuth unit through serial port conversion, and finally display the current angle relative to zero in real time on the LED panel;

[0080] The optical axis calibration support gimbal device for optoelectronic equipment provided by the present invention can independently realize movement in three axes, and the movement ranges are 0 to 100 mm for lift, -175° to +175° for azimuth, and -20° to +20° for pitch; the movement accuracy of the azimuth and pitch units can reach 0.1°, and it is matched with a universal load mounting fixed top plate, which can adapt to the rapid optical axis calibration and debugging requirements of a variety of load components. The calibration support gimbal device provided in this specification has a light overall weight, adopts modular assembly, has a small size, high movement accuracy, sensitive electronic control response, compact space structure, convenient load assembly and disassembly, adopts an integrated shaft system design internally, a lightweight frame support design, high operating reliability, convenient maintenance, and is lightweight and portable overall. The specific structure is implemented as described below.

[0081] See also Figure 1 , Figure 1 Schematic diagram of the composition of a calibration support pan-tilt device provided in an embodiment of this specification, such as Figure 1 As shown, the calibration support gimbal device includes a lifting unit, an azimuth unit and a pitch unit.

[0082] Among them, the lifting unit includes three parts: a lifting support assembly, a lifting drive assembly and a supporting guide assembly, which are further subdivided into a supporting base, a supporting top plate, a supporting guide column, a guide column top plate, a supporting bearing, a bearing seat, a screw pair, a linear bearing assembly, a worm gear assembly, a lifting planetary gear reduction motor assembly, a motor bearing seat, and a lifting limit block. The supporting top plate is fixedly connected to the screw assembly, the screw shaft is coaxially fixed with the worm wheel of the worm gear assembly, and the reduction motor coaxially drives the worm to rotate, thereby driving the screw assembly and the supporting top plate to rotate, and then driving the orientation unit to move up and down within the target area.

[0083] The azimuth unit includes three parts: an azimuth support assembly, an azimuth drive assembly and an azimuth angle measurement assembly, which are further subdivided into an azimuth base, an azimuth top plate, an internal gear, a pinion, an azimuth planetary gear reduction motor assembly, an azimuth photoelectric encoder assembly, a motor mounting bracket, an encoder mounting bracket, an azimuth limit block, an azimuth position locking assembly, an integrated control panel assembly, a display panel and a control switch, wherein the azimuth top plate is coaxially fixed with the bearing, driving the pitch unit to rotate in a circle within the target area.

[0084] The pitch unit includes three parts: a pitch support assembly, a pitch drive assembly and a pitch angle measurement assembly, which are further subdivided into pitch left and right support frames, a pitch axis, a worm gear assembly, a pitch planetary gear reduction motor assembly, a pitch photoelectric encoder assembly, a pitch load mounting plate, a pitch limit block, a scale indicator plate, and a load quick clamping assembly. The pitch load mounting plate is coaxially fixed with the pitch axis and is used to drive the optical load to rotate in a circle within a target area when the pitch axis rotates.

[0085] In practical applications,

[0086] The pitch bearing seat part of the pitch unit is fixedly connected to the azimuth top plate by means of 4-M6 screws, and the azimuth top plate is coaxially fixed to the inner ring of the azimuth support bearing, that is, the azimuth unit and the pitch unit are fixedly connected together by means of the azimuth top plate, and are driven by the azimuth drive motor and the pitch drive motor respectively to achieve local circular rotation within a specific range. It should be noted that when the azimuth axis system rotates, it drives the adapter plate to rotate, thereby driving the pitch rotation unit as a whole to move in a circle within a specific range, and uses the angle measuring components in their respective axis systems to feed back the current angle position information in real time.

[0087] In addition, the motion mechanisms of each unit are independent of each other, and the components of each unit adopt a standard modular design, wherein the first axis system of the azimuth unit and the second axis system of the pitch unit are used to form a precise orthogonal measurement coordinate system.

[0088] The lifting unit and pitch unit of the calibration support pan-tilt device are self-locking structures, and the azimuth unit is equipped with a quick locking mechanism; position self-locking or quick locking is mainly achieved with the help of, this function can help the calibration device to maintain the stability of the current state, which is very critical for high-precision optical axis consistency adjustment.

[0089] Specifically, the dimension diagram of the optical axis calibration support pan / tilt device is as follows: Figure 2 As shown;

[0090] in, Figure 2 It is a schematic diagram of the size structure of a calibration support gimbal device provided in an embodiment of this specification.

[0091] like Figure 2 As shown, the figure on the left is a schematic diagram of the outline dimensions of the calibration support pan-tilt device provided in the embodiment of the present specification, the figure on the right is a schematic diagram of the internal composition of the calibration device provided in the embodiment of the present specification, that is, the three independent motion units in the figure, and the figure in the lower left corner is a schematic diagram of the outline dimensions of the calibration support pan-tilt device provided in the embodiment of the present specification, as shown in the figure, The maximum rotation outer contour dimension of the pan / tilt support device is calibrated for the calibration device. This dimension can be used as a reference for the packaging and transportation of the equipment.

[0092] Specifically, the structural decomposition diagram of the calibration support pan-tilt device can be seen in Figure 3 , Figure 3 is a schematic diagram of the structure of a calibration support pan-tilt device provided in an embodiment of this specification, such as Figure 3 shown.

[0093] In the embodiments of the present specification, the lifting unit here also includes: a supporting base, a supporting top plate, a supporting guide column, a guide column top plate, a supporting bearing, a bearing seat, a screw pair, a linear bearing assembly, a worm gear assembly, a lifting planetary gear reduction motor assembly, a motor bearing seat, and a lifting limit block.

[0094] The screw pair is sleeved inside the screw shaft, and its top is coaxially matched with the support top plate, and is fixedly connected with 6-M5*12 hexagon socket screws.

[0095] Four support guide columns pass through the support top plate, the top of the support guide column is fixedly connected to the guide column top plate, and the bottom of the support guide column is fixedly connected to the support base. The support guide column realizes the up and down linear positioning function with the help of four linear bearing assemblies fixed to the lower part of the support top plate.

[0096] The center of the support base is equipped with a lower bearing seat for the screw, and the center screw shaft is installed in the upper and lower bearings and positioned with the help of steps to avoid up and down movement;

[0097] The bottom platform of the central screw shaft is flattened and fixedly connected to the worm gear in the worm gear assembly. The locking operation is achieved with the help of M4 top screws. The bottom of the worm gear assembly is fixed on the support base and fastened with 4-M5*12 hexagon socket screws.

[0098] The planetary gear reduction motor is fixed to the support base with 4-M5*12 hexagon socket screws and coaxially connected to the worm. The rotation of the worm drives the worm wheel to rotate and then drives the center screw to rotate. The rotation of the screw drives the support top plate to move up and down within a limited range and realize position self-locking.

[0099] The planetary gear reduction motor assembly of the lifting unit is equipped with a rocking handle, which can realize manual drive operation without external power supply, and the movement position can be calibrated through the scale markings;

[0100] The lifting limit blocks are made of hard rubber and are installed on the top and bottom of the guide column respectively. The upward and downward movement range of the supporting top plate is limited by the lifting limit blocks to ensure the safety of the travel.

[0101] Here, an anti-skid rubber plate is installed in the groove at the bottom of the lifting base to facilitate the anti-skid and stable calibration of the support device;

[0102] In the embodiment of this specification, the orientation unit here also includes:

[0103] Among them, the azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are fixedly connected to the azimuth base through their respective mounting brackets. The mounting brackets are designed as long holes for easy up and down adjustment. The two mounting brackets are fastened by 4-M5*12 hexagon socket combination screws;

[0104] The internal gear is a spur gear with 60 teeth and a thickness of 8mm. The outer side of the gear is machined with a mounting step. The internal gear is fixed to the top of the inner side of the azimuth cross roller bearing with the help of the step.

[0105] A small gear is fixed on the flattened part of the top shaft end of the azimuth planetary gear reduction motor assembly. The small gear is locked with the output shaft of the reduction motor assembly by means of the M4 top screw and is meshed tightly with the internal gear.

[0106] A small gear is fixed on the top shaft end of the azimuth photoelectric encoder assembly. The small gear is locked with the output shaft of the reduction motor assembly by means of an M4 top screw and is meshed tightly with the internal gear.

[0107] The support top plate here is installed on the top of the inner ring of the cross roller bearing and fastened with the help of 12-M6*12 hexagon socket combination screws;

[0108] The integrated control board assembly here is installed at the bottom of the azimuth base, and a thermal conductive silicone strip is installed at the bottom of the main control chip, and the side wall of the frame is used for heat conduction and heat dissipation;

[0109] The integrated control panel is interconnected with the drive and angle measurement components of the three units to complete the communication and power supply connections. Each line uses standard dedicated wiring to achieve interactive connection, with high interchangeability and good reliability.

[0110] A quick-plug aviation plug is installed on the rear side of the azimuth base to facilitate quick power-on operation of the equipment;

[0111] The LED display panel is installed on the front side of the azimuth base. The panel is connected to the integrated control board through a dedicated cable. The angle measurement component data in the azimuth and pitch directions are converted by the integrated control board and displayed on the display panel in real time. The displayed degree is the relative angle value of the current position relative to the zero position.

[0112] The control switch is installed at the lower front part of the azimuth base. The zeroing switch is used for power-on self-test and power-off storage. The other three switches are used for movement adjustment in three directions respectively.

[0113] The quick locking assembly mounting bracket is fixedly mounted on the side of the azimuth base, and the quick locking assembly is fixedly mounted on the bracket. At a specific position, the friction between the top rubber block and the supporting top plate can be achieved by quickly rotating the hand wheel at the bottom of the locking assembly to achieve braking operation;

[0114] In order to simplify the structure, the quick locking assembly mounting bracket is fully utilized as a limiting auxiliary structure. When the rubber block installed at the bottom of the supporting top plate rotates to a specific position, it will collide with the mounting bracket to achieve structural limitation.

[0115] In the embodiment of this specification, the pitch unit here also includes: a pitch left and right support frame, a pitch axis, a worm gear assembly, a pitch planetary gear reduction motor assembly, a pitch photoelectric encoder assembly, a pitch load mounting fixing plate, a pitch limit block, a scale indicator sign, and a load quick clamping assembly;

[0116] Among them, the left and right support frames for pitch are coaxially evenly installed and fixed on the left and right sides of the azimuth top plate, and are fastened with 4-M5*12 hexagon socket screws. The centers of the left and right support frames are kept coincident with the center of the azimuth axis system;

[0117] The pitch support bearings are coaxially installed on the left and right pitch support frames, and the axial positioning is achieved with the help of the bearing glands. The pitch axis is coaxially installed on the left and right support bearings, and the position is achieved with the help of steps to avoid longitudinal movement.

[0118] The pitch mounting plate is fixed on the pitch axis through two adapter brackets and fastened with 4-M5*12 hexagon socket screws. After installation, ensure that the center of the load mounting plate coincides with the axis of the azimuth axis system at the pitch zero position;

[0119] The pitch photoelectric encoder assembly is coaxially fixed on the left side of the pitch axis. The central axis of the encoder is coaxially fixed to the pitch axis through a coupling. There are four evenly distributed springs on the outside of the encoder, which are coaxially installed and fixed on the pitch support frame on this side and fixed with 4-M3*10 hexagon socket screws;

[0120] A worm gear assembly is installed and fixed on the right side of the pitch axis. The right end of the pitch axis is flattened and fixedly connected to the worm gear in the worm gear assembly. The position is fastened with the help of M4 top screws. The bottom of the worm gear assembly is fixed on the azimuth top plate and fastened with 4-M5*12 hexagon socket screws.

[0121] The planetary gear reduction motor is fixed on the azimuth top plate with the help of 4-M5*12 hexagon socket screws and connected coaxially with the worm. The motor drives the worm to rotate, which drives the worm wheel to rotate and then drives the pitch axis to rotate, and then drives the pitch load mounting plate to rotate within a limited range and realize position self-locking;

[0122] A scale indicator plate is coaxially installed on the right side of the pitch axis. A precision scale groove is machined between the plate and the right pitch support frame to mark the relative position of the pitch load installation fixing plate and the zero position.

[0123] A quick clamping assembly is installed and fixed on the pitch mounting plate, which can realize the quick installation and removal of various optical loads;

[0124] For details on the overall assembly of the calibration support pan / tilt device, please refer to Figure 4 ,in, Figure 4 It is a schematic diagram of the overall assembly of a calibration support device provided in an embodiment of this specification.

[0125] The device provided by the embodiment of the present specification, on the one hand, adopts a planetary gear reduction motor with a high-precision drive board card, with precise angle measuring components, introduces a precision screw shaft system and a gear shaft system and a worm gear transmission assembly, so as to achieve high-precision stable operation and precise adjustment of the equipment, and at the same time achieves motion buffering protection with the help of mechanical limit and software limit; on the other hand, the device adopts a large amount of light aluminum alloy as the main bearing frame material, and uses force analysis software to perform loading fatigue verification. The screw shaft and pitch axis are made of 316L stainless steel material, and the azimuth base, lifting base, support top plate, etc. are made of 6061-T651 high-quality aluminum alloy material. The material composition of each part is comprehensively distributed, and the overall weight is reduced while ensuring the safety of the equipment; on the other hand, the device servo control adopts a convenient control design, and a set of boards completes the motion control and position feedback data processing of multiple axis systems, and the real-time position of each axis system is dynamically displayed on the external display screen through data conversion, which is convenient for recording and calibration; on the other hand , because all parts of the device adopt universal modular design, each independent part can be replaced quickly, which is very convenient for later maintenance. It is only necessary to replace the system parts according to the specific situation of the fault, so its maintainability is good. The integrated control board, motor assembly, code disk assembly, etc. are installed by quick-release installation, which can be operated by one person, with quick disassembly and assembly, and convenient maintenance; on the other hand, the frame structure of each part of the device is modeled by actual measurement with the help of three-dimensional software to ensure the consistency of the size and center of mass, and reasonably arrange the position of the center of gravity of each axis system to ensure the maximum coincidence of the center of gravity position and the axis system, thereby reducing the rotational inertia of each axis system and reducing the overload burden of the planetary gear reduction motor, realizing the optimal design of the overall weight, and greatly improving the portability and use value of the equipment; on the other hand, the device drive unit has introduced a manual drive standby handle to make up for the calibration requirements when there is no external power supply; on the other hand, the device has introduced a load quick locking mechanism, and the mounting fixing plate is designed as a universal reference plate, which can adapt to the quick installation and clamping of a variety of loads and various calibration instruments;

[0126] Therefore, the optical axis calibration support pan-tilt device provided by the scheme solves the need for multi-axial precision adjustment based on the multi-dimensional motion drive design; based on the reasonable allocation of lightweight materials, it ensures the realization of equipment functions and overall lightweight; based on the drive design of planetary gear reduction motors and high-precision drive boards, it improves the transmission efficiency of the driving torque of each axis system; based on the introduction of modular quick-release units, it improves the maintenance convenience and reliability of the equipment; based on the self-locking design of the worm gear assembly, the position self-locking during the calibration process of the lifting unit and the pitch unit is realized; based on the compact structural layout and space design of the overall space, the integration of small equipment size and large drive range is realized; based on the overall technical effects of lightweight, modularization, multi-dimensional motion, high reliability and maintainability.

[0127] See also Figure 5, Figure 5 It is a schematic diagram of the working range of a limiting structure of an optical axis calibration support device provided in an embodiment of this specification.

[0128] When the equipment is working, in order to avoid overshoot and protect the equipment, each transmission direction is designed with dual protection of electrical limit and structural limit; among them, the movement range of the support plate of the lifting unit is 0~100mm; the software electrical limit range of the support top plate rotation movement of the azimuth unit is: -175°~+175°, and the structural limit range is: -176°~+176°; the software electrical limit range of the support top plate rotation movement of the pitch unit is: -20°~+20°, and the structural limit range is: -21°~+21°;

[0129] After exceeding the corresponding limit range, the planetary gear reduction motor-38 drive plate will immediately stop driving, and cooperate with the structural limit rubber block 41 to complete the overshoot limit protection;

[0130] See also Figure 6 , Figure 6 It is a schematic diagram of the actual appearance structure of an optical axis calibration support device provided in an embodiment of this specification.

[0131] The actual assembled appearance of the equipment is shown in the figure; the surface color can be sprayed according to the actual application environment;

[0132] The actual application occasion of the equipment is to place it on the optical reference platform in front of the parallel light tube. First, apply black 703 silicone on the inner side of the rubber anti-skid pad 44 at the bottom and press it into the installation groove at the bottom of the support base 1 to play an anti-skid and buffering role; then connect the quick-plug aviation plug to complete the DC24V device power-on; then press the zeroing switch 26 to complete the device self-test and position zeroing operation; then check and confirm whether the precision scale marks in the three-axis direction have been zeroed; then place the optical load frame to be calibrated flat on the top of the load mounting fixing plate 33, and use the quick locking assembly 39 to complete the squeezing operation of the optical load frame; then operate the lifting switch 27, azimuth switch 28, and pitch switch 29 to complete the alignment operation of each sensor optical axis with the parallel light tube target; if necessary, rotate the handle 12 to complete the position drive in each direction; after use, remove the equipment, press the zeroing button to complete the position zeroing operation.

[0133] Compared with the prior art, the advantages of the embodiments of the present invention are:

[0134] 1) In the embodiment of the present invention, when the fast rotating mirror rotates, the incident angle of the laser on the rotating mirror surface changes continuously, causing the reflected laser to deflect continuously, and at the same time, the laser spot on the projection screen also moves continuously in the same direction, so that a high-speed target with a continuously changing position can be obtained;

[0135] 2) In the embodiment of the present invention, the movement speed of the laser spot can be increased by increasing the rotation speed of the rotating mirror and increasing the distance between the rotating mirror and the projection screen, and the high-speed moving target simulation can be achieved at a speed much higher than the control light strip method;

[0136] 3) In the embodiment of the present invention, the continuous change of the motion speed of the simulated target can be achieved by continuously adjusting the distance between the rotating mirror and the projection screen.

[0137] Through the description of the specific implementation methods, a deeper and more specific understanding of the technical means and effects adopted by the present invention to achieve the predetermined purpose should be obtained. However, the accompanying drawings are only for reference and illustration purposes and are not intended to limit the present invention.

Claims

1. A photoelectric equipment optical axis calibration support pan-tilt device, characterized in that: The calibration support pan-tilt device comprises: a lifting unit, an azimuth unit and a pitch unit; wherein, The lifting unit includes: a support base, a support top plate, a support guide column, a guide column top plate, a lead screw pair, a linear bearing assembly, a lifting worm gear assembly, a lifting planetary gear reduction motor assembly, a motor bearing seat, and a lifting limit block; The top of the screw pair is coaxially fixedly connected with the support top plate, the support guide column passes through the support top plate, the top of the support guide column is fixedly connected to the guide column top plate, and the bottom of the support guide column is fixedly connected to the support base, and the support guide column realizes the up and down linear positioning function by means of the linear bearing assembly fixed to the lower part of the support top plate, and the support base is equipped with a screw lower bearing seat at the center of the support base, the center screw shaft is installed in the upper and lower bearings and realizes position positioning by means of steps, the bottom platform of the center screw shaft is flattened and fixedly connected to the worm wheel in the worm gear assembly, and the bottom of the lifting worm gear assembly is fixed on the support base, and the lifting planetary gear reduction motor assembly is fixed on the support base and coaxially connected with the worm through a coupling, the rotation of the worm drives the worm wheel to rotate and then drives the center screw to rotate, and the rotation of the screw drives the support top plate to move up and down within a limited range, and the lifting limit blocks are respectively installed at the top and bottom of the guide column, and the up and down movement range of the support top plate is limited by the lifting limit blocks to ensure the safety of the stroke; The azimuth unit includes: an azimuth base, an azimuth top plate, an internal gear, a pinion, an azimuth planetary gear reduction motor assembly, an azimuth photoelectric encoder assembly, an azimuth limit block, and an azimuth support bearing; Wherein, the azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are respectively fixedly connected to the azimuth base through their own mounting brackets, the internal gear is fixed to the top inner side of the azimuth support bearing, the pinion is fixed at the flattened part of the top shaft end of the azimuth planetary gear reduction motor assembly and is tightly meshed with the internal gear, the pinion is fixed to the top shaft end of the azimuth photoelectric encoder assembly and is tightly meshed with the internal gear, the azimuth top plate is coaxially fixed to the azimuth support frame through the azimuth support bearing, and is used to drive the top pitch unit to rotate when the azimuth gear shaft system rotates, a scale groove is machined between the azimuth top plate and the azimuth base to realize the marking of the relative position of the azimuth base and the azimuth top plate and the zero position marking, the azimuth limit block is installed on the top of the azimuth top plate, and the rotation range of the azimuth top plate is limited by the azimuth limit block to ensure the safety of the azimuth rotation stroke; The pitch unit includes: a pitch left support frame, a pitch right support frame, a pitch axis, a pitch worm gear assembly, a pitch planetary gear reduction motor assembly, a pitch photoelectric encoder assembly, and a pitch limit block; Among them, the left and right pitch support frames are coaxially evenly installed and fixed on the left and right sides of the azimuth top plate, the centers of the left and right support frames coincide with the center of the azimuth axis system, the pitch support bearings are coaxially installed on the left and right pitch support frames, the pitch axis is coaxially installed on the left and right support bearings, and the position is positioned with the help of steps, the pitch mounting fixed plate is fixed on the pitch axis, and ensures that in the zero position, the center of the fixed plate coincides with the axis center of the azimuth axis system, the pitch photoelectric encoder assembly is coaxially fixed on the left side of the pitch axis, the pitch worm gear assembly is installed and fixed on the right side of the pitch axis, the right end of the pitch axis is milled and fixedly connected to the worm wheel in the turbine worm assembly, the bottom of the pitch worm gear assembly is fixed on the azimuth top plate, and the pitch planetary gear reduction motor is fixed on the azimuth top plate and coaxially connected to the worm.

2. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The optical axis calibration support gimbal device is a multi-dimensional driving structure, wherein the lifting unit and the pitch unit have a position self-locking function.

3. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The first rotation center axis of the screw shaft system of the lifting unit and the second rotation center axis of the orientation unit are coaxial.

4. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The second rotation center axis of the azimuth unit and the third rotation center axis of the pitch unit are in a relatively perpendicular relationship and are used to form an orthogonal coordinate system.

5. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The support base is coaxial with the upper and lower support main bearings of the first shaft system of the lifting unit and is fixedly connected to the lower bearing seat; The support top plate is coaxial with the upper and lower support main bearings of the first shaft system of the lifting unit and is fixedly connected to the screw pair; The lead screw pair is coaxial with the upper and lower support bearings of the first shaft system of the lifting unit, and is coaxially fixed with the support top plate; The worm wheel in the lifting worm gear assembly is coaxial with the screw shaft of the first shaft system of the lifting unit and is fixedly connected at the bottom by means of a milled flat feature; The linear bearing assembly is evenly distributed and fixed on the lower part of the support top plate to realize the up and down movement positioning of the support top plate; The top of the guide column is fixedly connected to the top plate of the guide column to form a stable supporting frame; The lifting limit blocks are respectively fixed on the top and bottom of the guide column, and are equipped with soft rubber buffers to achieve safety protection buffering within the travel range of 0 to 100 mm of the lifting unit.

6. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The azimuth base is coaxially fixed with the support top plate of the lifting unit, coaxially mounted with the azimuth cross roller support bearing, and fixedly connected with the outer side of the azimuth support bearing; The azimuth top plate is coaxially fixed with the azimuth support shaft system, coaxially installed with the azimuth cross roller support bearing, and fixedly connected with the inner side of the azimuth support bearing; The azimuth internal gear is coaxially fixed with the azimuth support shaft system and fixedly connected to the inner side of the azimuth cross roller support bearing; The azimuth planetary gear reduction motor assembly and the azimuth photoelectric encoder assembly are respectively fixed to the inner side wall of the azimuth base by means of their own mounting brackets, and the shaft ends are respectively fixed with pinions that mesh with the azimuth internal gears, with a transmission ratio of 1:4; The azimuth limit blocks are respectively installed and fixed on the bottom of the azimuth top plate, and a soft rubber block is added to achieve a safety protection buffer within the azimuth rotation range of ±175°; The position locking assembly is installed and fixed on the side of the azimuth base, and the rotation position of the azimuth unit is locked and fixed by installing soft rubber on the end and tightening it in a spiral manner.

7. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The left and right pitch support frames are coaxially and evenly installed and fixed on the left and right sides of the azimuth top plate, and their centers coincide with the center of the azimuth axis system; The pitch axis is coaxially installed in the support bearings on both sides of the pitch left and right support frames, and the position is positioned by means of steps on both sides; The pitch photoelectric encoder assembly is coaxially mounted on one side of the pitch axis, and the rotor is coaxially fixed with the pitch axis, and the stator is evenly fixed to the outside of the pitch support frame by means of spring leaves; The worm wheel of the pitch worm gear assembly is fixedly connected to the right end of the pitch shaft by means of a milled flat feature, and the pitch planetary gear reduction motor assembly is installed and fixed on the azimuth top plate; The pitch installation fixing plate is placed coaxially with the pitch axis and is fixedly connected to the pitch axis by means of a transfer support block; The pitch limit block is fixed to the bottom of the pitch load mounting fixing plate and the top of the azimuth top plate and is made of rubber material, and is used to achieve stroke protection buffering of the pitch load within the range of ±20°.

8. The optical axis calibration support device according to claim 1, characterized in that: The lifting shaft system includes two upper and lower double-row angular contact ball bearing support structures, and steps are designed on both sides of the angular contact ball bearings to achieve shaft system positioning. The upper and lower angular contact ball bearings are back-to-back support structures to improve the shaft system support stiffness and the stability and accuracy of the screw rotation.

9. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The azimuth shaft system includes a set of cross roller bearings, and the internal gear is coaxially mounted and fixed on the inner ring of the cross roller bearing. The cross roller bearing can carry loads in both directions and is used to ensure stable rotation of the top load.

10. The optical axis calibration support pan-tilt device according to claim 1, characterized in that: The pitch axis system comprises two left and right support bearing seats, and two deep groove ball bearings are respectively installed in the bearing seats; the pitch axis system passes through the left and right support bearings, and the position is positioned by the steps; The output shaft of the pitch photoelectric encoder assembly is coaxially fixed with the pitch axis by means of a coupling, and the outer spring of the angle measuring assembly is fixed on the pitch bearing seat; An angle scale plate is fixedly installed on the right side of the pitch axis, and the angle scale plate is used to realize the pitch zero position mark.

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