Small two-axis precision optical tracking turntable

Abstract

The invention relates to the technical field of optical measurement, in particular to a small two-axis precision optical tracking rotary table which comprises a base, an azimuth axis system, a rotary table system, a pitch axis system, an optical system bearing frame and an information comprehensive circuit board, the azimuth axis system is arranged on the base, and therefore the azimuth axis system has the azimuth freedom degree of a rotating shaft in the Z-axis direction; the rotary table system above the azimuth axis system comprises a rotary table base and rotary table frames on the two sides. The pitch axis system comprises a motor shaft system and an encoder shaft system which are arranged on the rotary table frames on the two sides respectively. The two sides of the optical system bearing frame are connected to the motor shaft system and the encoder shaft system, so that the optical system bearing frame has the pitching freedom degree of the rotating shaft in the Y-axis direction. The information integration circuit board is used for collecting optical signals and / or electric signals of the optical measurement system. Therefore, the small two-axis precision optical tracking rotary table can meet the use requirements of portability and high precision, and has arc-second-level positioning precision on the basis of being convenient to carry, so that the small two-axis precision optical tracking rotary table can be conveniently applied to modern optical measurement.

Description

Technical Field

[0001] The invention relates to the technical field of optical measurement, and in particular provides a small two-axis precision optical tracking turntable. Background Art

[0002] With the continuous advancement of modern optical measurement technology, the demand for rapid transportation and deployment is increasing, and miniaturized optical measurement equipment has become an indispensable and important component in certain application scenarios. As the core load-bearing component of optical measurement equipment, the two-axis precision optical tracking turntable is the installation reference for all optical system aiming axes, and its positioning accuracy directly affects the final pointing accuracy of the optical measurement equipment. Although the traditional two-axis precision optical tracking turntable can achieve high positioning accuracy, it often sacrifices portability due to its large size; and the existing portable two-axis precision optical tracking turntable is difficult to meet the requirements of arc second level in terms of positioning accuracy. Therefore, achieving a balance between portability and high precision has become the focus of the research and development of small two-axis precision optical tracking turntables.

[0003] The Chinese patent publication number is CN109282118B, and the publication date is April 10, 2020. The patent name is "Precision Turntable Shaft System", which adopts an integrated bearing and can withstand the combined load of axial load, radial load and overturning moment. It has a large load-bearing capacity, strong anti-overturning and anti-impact capabilities, and can meet the requirements of long-distance vehicle transportation. In order to achieve excellent positioning accuracy, the precision turntable shaft system has a large redundancy in overall stiffness. However, the angle feedback element does not establish a direct connection with the rotating shaft. Therefore, during the installation and adjustment process, the angle feedback element needs to be adjusted through an external reference, which introduces measurement and adjustment errors. In addition, the type of precision turntable shaft system and its internal space are not compact, resulting in a large overall mass. Even if it is miniaturized, it still cannot meet the portability requirements.

[0004] The Chinese patent publication number is CN113515144B, the publication date is November 10, 2023, and the patent name is "An integrated universal azimuth and pitch two-axis turntable". Through a series of integrated designs, the volume is significantly reduced, making the structure more compact and having strong versatility. However, since the drive method uses structural forms such as motors, gears and couplings, transmission errors are introduced, resulting in the angular positioning accuracy of the turntable usually only reaching the angular classification level, so it is not suitable for two-axis precision optical tracking turntables that require arc second accuracy. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a small two-axis precision optical tracking turntable, which can take into account both portability and high-precision usage requirements. On the basis of being easy to carry, it has arc-second-level positioning accuracy to meet the application requirements of modern optical measurement technology.

[0006] The present invention provides a small two-axis precision optical tracking turntable, which specifically includes a base, an azimuth axis system, a turntable system, a pitch axis system, an optical system carrier and an information integrated circuit board, wherein a plurality of leveling systems are arranged on the base along the circumference; the azimuth axis system is arranged above the base, the azimuth axis system is connected to the leveling system, and the azimuth axis system has an azimuth degree of freedom of the rotation axis along the Z-axis direction; the turntable system is arranged above the azimuth axis system, and the turntable system includes a turntable base and a turntable frame arranged on both sides of the turntable base; the pitch axis system includes a motor axis system and an encoder axis system, and the motor axis system and the encoder axis system are respectively arranged on the turntable frames on both sides of the turntable base; the two sides of the optical system carrier are respectively connected to the motor axis system and the encoder axis system, so that the optical system carrier has the pitch degree of freedom of the rotation axis along the Y-axis direction; the information integrated circuit board is arranged inside the turntable frame, and the information integrated circuit board is used to collect optical signals and / or electrical signals of the optical measurement system carried by the optical system carrier.

[0007] Preferably, the azimuth axis system includes a bearing base, an azimuth bearing, an azimuth rotating shaft, and a first motor, the axis of the bearing base is arranged in the vertical direction, the bottom of the bearing base is connected to the base through a base lower cover plate, the top of the bearing base is connected to a turntable sealing lower ring, and aviation plug cover plates are arranged on both sides of the bearing base; the azimuth bearing is arranged inside the bearing base, the top of the azimuth bearing is provided with a bearing upper pressure ring, and the bottom of the azimuth bearing is provided with a bearing lower pressure ring; a first connecting hole is opened on the turntable base, the bottom of the azimuth rotating shaft is penetrated by the azimuth bearing, and the top of the azimuth rotating shaft is penetrated by the first connecting hole; the stator part of the first motor is connected to the bearing base, and the rotor part of the first motor is connected to the azimuth rotating shaft, and the first motor is used to drive the azimuth rotating shaft to rotate.

[0008] Preferably, the azimuth axis system also includes an azimuth encoder and a photoelectric combination slip ring, the first motor is symmetrically provided with first encoder forks on both sides along the circumferential direction, the stator part of the azimuth encoder is connected to the first encoder fork, and the rotor part of the azimuth encoder is connected to the azimuth rotating shaft; a photoelectric slip ring fork is provided on the supporting base, the stator part of the photoelectric combination slip ring is connected to the photoelectric slip ring fork, and the rotor part of the photoelectric combination slip ring is connected to the azimuth rotating shaft; wherein, the photoelectric combination slip ring is also electrically connected to the information integrated circuit board.

[0009] Preferably, the leveling system includes a leveling connecting seat, a connecting flange and a leveling connecting piece, a plurality of leveling connecting seats are arranged on the base, and a first adjustment hole is opened on the leveling connecting seat; the connecting flange is arranged at the bottom of the supporting base, and a plurality of second adjustment holes are opened on the connecting flange; the leveling connecting piece is passed through the first adjustment hole and the second adjustment hole, so that the leveling connecting piece can be used to adjust the positioning axis system.

[0010] Preferably, the motor shaft system includes a motor shaft adapter, a deep groove ball bearing, a pitch axis motor and a motor shaft, the motor shaft adapter is arranged on the turntable frame on the first side of the turntable base; the deep groove ball bearing is arranged inside the motor shaft adapter, and a single bearing pressure cover is arranged on the side of the deep groove ball bearing away from the optical system support frame; the stator part of the pitch axis motor is connected to the motor shaft adapter; the first end of the motor shaft is connected to the rotor part of the pitch axis motor, and is sequentially passed through the single bearing pressure cover and the deep groove ball bearing, so that the second end of the motor shaft is connected to the optical system support frame.

[0011] Preferably, the small two-axis precision optical tracking turntable also includes a mechanical limit device and an electric limit device. The mechanical limit device includes a mechanical limit contact block, a limit switch bracket, a mechanical limit seat, a mechanical limit rubber pad and a pitch limit block. The mechanical limit contact block is connected to the rotor part of the pitch axis motor. The limit switch bracket is arranged on the turntable frame on the first side of the turntable base. The two mechanical limit seats are respectively connected to the two sides of the limit switch bracket. The mechanical limit rubber pad is connected to the top of the mechanical limit seat. The pitch limit block is connected to the mechanical limit seat, and the pitch limit block is located outside the turntable frame; the electric limit device includes a first limit switch and a limit switch contact block. The two first limit switches are respectively connected to the top and bottom of the limit switch bracket, and the limit switch contact block is connected to the mechanical limit contact block.

[0012] Preferably, the encoder shaft system includes an encoder shaft adapter, a pitch bearing, an encoder shaft and a pitch encoder, the encoder shaft adapter is arranged on the turntable frame on the second side of the turntable base; the pitch bearing is arranged inside the encoder shaft adapter, and the pitch bearing is respectively provided with a double-bearing outer pressure ring and a double-bearing inner pressure ring; the encoder shaft is passed through the interior of the pitch bearing, and the encoder shaft is connected to the optical system carrier frame; the encoder shaft adapter is symmetrically provided with a second encoder fork on both sides along the circumferential direction, the rotor part of the pitch encoder is connected to the encoder shaft, and the stator part of the pitch encoder is connected to the second encoder fork.

[0013] Preferably, a plurality of first annular grooves are provided on the first side of the optical system carrier, a plurality of second annular grooves are provided on the second side of the optical system carrier, a plurality of first annular flanges are circumferentially arranged on the motor shaft adapter, and a plurality of second annular flanges are circumferentially arranged on the encoder shaft adapter; wherein the first annular groove is suitable for matching with the first annular flange, and the second annular groove is suitable for matching with the second annular flange, so that a labyrinth sealing structure is formed between the first annular groove and the first annular flange, and between the second annular groove and the second annular flange.

[0014] Preferably, the turntable system also includes a turntable sealing upper ring, a turntable upper cover plate, a turntable left cover plate and a turntable right cover plate, the turntable sealing upper ring is connected to the bottom of the turntable frame to form a labyrinth sealing structure between the turntable sealing upper ring and the turntable sealing lower ring; the turntable upper cover plate is connected to the top of the first connecting hole; the turntable left cover plate is connected to the turntable frame on the first side of the turntable base; the turntable right cover plate is connected to the turntable frame on the second side of the turntable base.

[0015] Preferably, the turntable system further comprises a portable handle and an auxiliary handle, wherein the portable handle is connected to the top of the turntable frame; and the auxiliary handle is connected to the turntable base.

[0016] Compared with the prior art, the present invention can achieve the following beneficial effects: (1) The small two-axis precision optical tracking turntable provided by the present invention can take into account both portability and high-precision requirements. On the basis of being easy to carry, it has an arc-second-level positioning accuracy to meet the application requirements of modern optical measurement technology.

[0017] (2) The small two-axis precision optical tracking turntable provided by the present invention can effectively reduce the difficulty of casting the turntable frame and avoid the risk of difficult-to-control casting weight by arranging deep groove ball bearings and paired high-precision angular contact ball bearings to effectively compensate for the thermal expansion effect caused by temperature, thereby improving the stability of the positioning accuracy of the pitch axis system.

[0018] (3) The small two-axis precision optical tracking turntable provided by the present invention adopts a torque motor as the power source of the azimuth axis system and the pitch axis system, which can avoid transmission errors. An integrated encoder is used as the angle feedback element, and is directly connected to the azimuth axis and the encoder axis, so that there is no need to rely on an external reference to adjust the encoder during the installation process, thereby avoiding the influence of measurement and adjustment errors on the positioning accuracy and meeting the requirements of arc second level positioning accuracy.

[0019] (4) The small two-axis precision optical tracking turntable provided by the present invention can introduce dynamic sealing of the optical system carrier frame without increasing the weight of the structure by arranging a labyrinth sealing structure and a felt sealing structure in the relative motion link between the motor shaft system and the encoder shaft system, thereby enhancing the protection capability of the optical system carrier frame; sealing materials are arranged at multiple positions of the turntable system for static sealing of the turntable base and the turntable frame, which can effectively isolate the interior of the turntable system from the external environment, enhance the protection capability, and at the same time meet the needs of quickly disassembling and assembling the turntable system to facilitate maintenance of the pitch axis system.

[0020] (5) The small two-axis precision optical tracking turntable provided by the present invention can satisfy the multiple functions of leveling, locking and carrying by providing a quickly detachable leveling structure, pitch limit block, portable handle and auxiliary handle, while allowing each accessory to be individually disassembled and packaged for transportation, thereby significantly enhancing portability; at the same time, through efficient internal space planning, the redundant space inside the turntable frame is reduced, and only necessary components are retained, making the internal structure of the turntable frame more compact, thereby reducing weight and improving portability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic structural diagram of a small two-axis precision optical tracking turntable provided by an embodiment of the present invention; Figure 2 It is a schematic cross-sectional structure diagram of a small two-axis precision optical tracking turntable provided by an embodiment of the present invention; Figure 3 is a schematic structural diagram of an azimuth axis system provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of a pitch axis system provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of a turntable system provided in an embodiment of the present invention.

[0022] Reference numerals include: 1 base, 2 azimuth axis system, 21 bearing base, 211 base lower cover, 212 turntable seal lower ring, 213 aviation plug cover, 22 azimuth bearing, 221 bearing upper pressure ring, 222 bearing lower pressure ring, 23 azimuth shaft, 24 first motor, 25 azimuth encoder, 251 first encoder fork, 26 photoelectric combination slip ring, 261 photoelectric slip ring fork, 3 turntable system, 31 turntable base, 32 turntable frame, 33 turntable seal upper ring, 34 turntable cover, 35 turntable left cover, 36 turntable right cover, 37 portable handle, 38 auxiliary handle, 39 phenolic plate, 4 pitch axis system, 411 motor shaft adapter, 412 deep groove Ball bearing, 413 single bearing pressure cover, 414 pitch axis motor, 415 motor shaft, 421 encoder shaft adapter, 422 pitch bearing, 423 double bearing outer pressure ring, 424 double bearing inner pressure ring, 425 encoder shaft, 426 pitch encoder, 427 second encoder fork, 5 optical system carrier, 6 information integrated circuit board, 7 leveling system, 71 leveling connector, 72 connecting flange, 721 second adjustment hole, 73 leveling connector, 81 mechanical limit contact block, 82 limit switch bracket, 83 mechanical limit seat, 84 mechanical limit rubber pad, 85 pitch limit block, 86 first limit switch, 87 limit switch contact block. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention. Wherein similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are to enable the present invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present invention are not shown or described in the specification, this is to avoid the core part of the present invention being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0024] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Figures 1 to 5 The mark in .

[0028] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, an embodiment of the present invention provides a small two-axis precision optical tracking turntable, which specifically includes a base 1, an azimuth axis system 2, a turntable system 3, a pitch axis system 4, an optical system carrier 5 and an information integrated circuit board 6. The base 1 is circular and arranged in the horizontal direction. A plurality of leveling systems 7 are arranged circumferentially on the base 1. The azimuth axis system 2 is arranged above the base 1, and the azimuth axis system 2 is connected to the leveling system 7. By adjusting the leveling system 7, the azimuth axis system 2, the turntable system 3, the pitch axis system 4 and the optical system carrier 5 above the base 1 can be kept horizontal. The azimuth axis system 2 has an azimuth degree of freedom of the rotation axis along the Z-axis direction. By adjusting the azimuth axis system 2, the azimuth degree of freedom of the rotation axis of the optical measurement system mounted on the optical system carrier 5 along the Z-axis direction can be adjusted.

[0029] The turntable system 3 is arranged above the azimuth axis system 2, and the turntable system 3 includes a turntable base 31 and a turntable frame 32 arranged on both sides of the turntable base 31. The pitch axis system 4 includes a motor axis system and an encoder axis system, and the motor axis system and the encoder axis system are respectively arranged on the turntable frames 32 on both sides of the turntable base 31. The two sides of the optical system carrier 5 are tightly connected to the motor axis system and the encoder axis system respectively through stopper positioning and screws, so that the optical system carrier 5 has a pitch degree of freedom of the rotation axis along the Y-axis direction. By adjusting the pitch axis system 4, the pitch degree of freedom of the rotation axis of the optical measurement system installed on the optical system carrier 5 along the Y-axis direction can be adjusted.

[0030] The information integrated circuit board 6 is arranged inside the turntable frame 32. The information integrated circuit board 6 is used to collect the optical signal and / or electrical signal of the optical measurement system carried by the optical system carrier 5, and transmit the optical signal and / or electrical signal to the host computer, so as to analyze the optical signal and / or electrical signal of the optical measurement system. Therefore, the small two-axis precision optical tracking turntable can take into account the use requirements of portability and high precision. On the basis of being easy to carry, it has an arc second level positioning accuracy to meet the application requirements of modern optical measurement technology.

[0031] Among them, by setting the pitch axis system 4 as a split motor axis system and encoder axis system, and the motor axis system and the encoder axis system are detachably installed on the turntable frame 32 on both sides of the turntable base 31, the casting difficulty of the turntable frame 32 can be effectively reduced, thereby avoiding the risk of difficult to control the weight of the casting to a certain extent.

[0032] Among them, phenolic plates 39 are also fixed on the inner walls of the turntable frame 32 on both sides of the turntable base 31. The phenolic plates 39 on the inner wall of the turntable frame 32 on the first side are used to install the information integrated circuit board 6, and the phenolic plates 39 on the inner wall of the turntable frame 32 on the second side are reserved for later installation of other equipment. By setting a cavity inside the turntable frame 32 for installing the information integrated circuit board 6 and other equipment, the redundant space inside the turntable frame 32 can be reduced, making the structure more compact; by setting a lightweight phenolic plate 39 as a carrier for installing the information integrated circuit board 6 and other equipment, the weight of the small two-axis precision optical tracking turntable can be reduced, and the portability can be improved.

[0033] like Figure 1 , Figure 2 and Figure 3As shown, the azimuth axis system 2 includes a bearing base 21, an azimuth bearing 22, an azimuth rotating shaft 23, and a first motor 24. The axis of the bearing base 21 is arranged in the vertical direction, and the bottom of the bearing base 21 is connected to the base 1 through the base lower cover plate 211, so that the base lower cover plate 211 can close the bottom of the bearing base 21. Preferably, a sealing strip and a sealant are also arranged between the bearing base 21 and the base lower cover plate 211, so as to isolate the interior of the bearing base 21 from the external environment. A turntable sealing lower ring 212 is connected to the top of the bearing base 21, which is used to seal the interior of the bearing base 21. Aviation plug cover plates 213 are arranged on both sides of the bearing base 21. The two aviation plug cover plates 213 are respectively used to install aviation sockets of two transmission lines of optical fiber and circuit, so as to realize the rapid plug-in and unplug connection between the azimuth axis system 2 and the external line, so as to realize the external output of photoelectric signals.

[0034] The azimuth bearing 22 is arranged inside the bearing base 21. The top of the azimuth bearing 22 is provided with a bearing upper pressing ring 221, and the bottom of the azimuth bearing 22 is provided with a bearing lower pressing ring 222. By grinding the thickness of the bearing upper pressing ring 221, the outer ring of the azimuth bearing 22 can be pressed against the inner ring of the bearing base 21 from the top, thereby positioning the azimuth bearing 22 in the axial direction. The bearing lower pressing ring 222 is provided with an internal thread, and the azimuth bearing 22 is also provided with an external thread. When the bearing lower pressing ring 222 is rotated, the internal thread on the bearing lower pressing ring 222 cooperates with the external thread on the azimuth bearing 22, so that the azimuth bearing 22 can be pressed against the bearing base 21 from the bottom.

[0035] Preferably, the azimuth bearing 22 adopts a pair of high-precision angular contact ball bearings, which are installed back-to-back in contact inside the bearing base 21. The outer ring of the angular contact ball bearing has a transition fit with the inner ring of the bearing base 21, and the inner ring of the angular contact ball bearing has an interference fit with the azimuth shaft 23; the first motor 24 adopts a torque motor, which is used as the power source of the azimuth axis system 2, and can avoid transmission errors.

[0036] like Figures 1 to 3 and Figure 5 As shown, a first connection hole is provided on the turntable base 31, the bottom of the azimuth shaft 23 is penetrated in the azimuth bearing 22, and the top of the azimuth shaft 23 is penetrated in the first connection hole through its own guide surface. The stator part of the first motor 24 is tightly fixedly connected to the bearing base 21, and the rotor part of the first motor 24 is fixedly connected to the azimuth shaft 23 through a stop and a screw, so that the first motor 24 can be used to drive the azimuth shaft 23 to rotate, thereby adjusting the azimuth freedom of the optical measurement system rotation axis installed on the optical system carrier 5 along the Z-axis direction by adjusting the azimuth axis system 2.

[0037] like Figure 1 , Figure 2 and Figure 3As shown, the azimuth axis system 2 also includes an azimuth encoder 25 and an optoelectronic combination slip ring 26. The first motor 24 is symmetrically fixedly provided with first encoder forks 251 on both sides along the circumferential direction, and the stator part of the azimuth encoder 25 is fixedly connected to the first encoder fork 251, so that the first encoder fork 251 can be used to adjust the azimuth encoder 25. The rotor part of the azimuth encoder 25 is fixedly connected to the azimuth rotating shaft 23 through a stopper, so as to obtain the rotation angle of the azimuth rotating shaft 23. An optoelectronic slip ring fork 261 is fixedly provided on the bearing base 21, and the stator part of the optoelectronic combination slip ring 26 is fixedly connected to the optoelectronic slip ring fork 261, so that the stator part of the optoelectronic combination slip ring 26 remains relatively stationary. The rotor part of the optoelectronic combination slip ring 26 is fixedly connected to the azimuth rotating shaft 23, so as to record and transmit a signal with the rotation angle of the azimuth rotating shaft 23.

[0038] The optoelectronic combination slip ring 26 is a device for transmitting optoelectronic signals, and can simultaneously realize 360-degree unlimited rotation. The optoelectronic combination slip ring is also electrically connected to the information integrated circuit board. When the information integrated circuit board 6 collects the optical signal and / or electrical signal of the optical measurement system carried by the optical system carrier 5, the optoelectronic combination slip ring 26 can transmit the optical signal and / or electrical signal to the host computer.

[0039] Preferably, an integrated azimuth encoder 25 is used as the angle feedback element, and the azimuth encoder 25 is directly connected to the azimuth shaft 23, so that during the installation process, there is no need to rely on an external reference to adjust the azimuth encoder 25, thereby avoiding measurement and adjustment errors from affecting the positioning accuracy. On the basis of meeting the portability, it can also meet the requirements of arc second level positioning accuracy.

[0040] like Figure 1 and Figure 3 As shown, the leveling system 7 includes a leveling connection seat 71, a connection flange 72 and a leveling connection piece 73. A plurality of leveling connection seats 71 are arranged on the base 1, and a first adjustment hole is provided on the leveling connection seat 71, and the first adjustment hole is a threaded hole. The connection flange 72 is arranged at the bottom of the bearing base 21, and a plurality of second adjustment holes 721 are provided on the connection flange 72. Among them, the first adjustment hole and the second adjustment hole 721 are opened in the vertical direction and correspond one to one in the vertical direction. The leveling connection piece 73 is penetrated in the second adjustment hole and screwed on the first adjustment hole 721, so as to realize the leveling of the positioning axis system 2 and the structure or equipment above it through the leveling connection piece 73.

[0041] When adjusting the balance, by rotating the leveling connector 73, the connecting flange 72 can be driven to tilt upward or downward along the leveling connector 73 on that side; by rotating the leveling connector 73 at different positions, the connecting flange 72 can be adjusted to be horizontal, thereby achieving the effect of adjusting the positioning axis system 2, the turntable system 3, the pitch axis system 4 and the optical system carrier 5.

[0042] In addition, in addition to being able to adjust the azimuth axis system 2, turntable system 3, pitch axis system 4 and optical system carrier frame 5, the leveling system 7 can also quickly remove the connecting flange 72 from the leveling connector 73 by rotating the leveling connector 73, that is, quickly disassemble the connection between the azimuth axis system 2 and the base 1, thereby facilitating separate packaging and transportation, thereby minimizing the transportation weight of the small two-axis precision optical tracking turntable and enhancing portability.

[0043] like Figure 2 and Figure 4 As shown, the motor shaft system includes a motor shaft adapter 411, a deep groove ball bearing 412, a pitch axis motor 414 and a motor shaft 415. The motor shaft adapter 411 is arranged on the turntable frame 32 on the first side of the turntable base 31, and is used to realize the detachable connection between the motor shaft system and the turntable frame 32. The deep groove ball bearing 412 is arranged inside the motor shaft adapter 411, and a single bearing pressure cap 413 is arranged on the side of the deep groove ball bearing 412 away from the optical system carrier 5. By grinding the thickness of the single bearing pressure cap 413, the outer ring of the deep groove ball bearing 412 can be pressed against the inner ring of the motor shaft adapter 411, so as to position the deep groove ball bearing 412 in the axial direction. The stator part of the pitch axis motor 414 is connected to the motor shaft adapter 411, and the first end of the motor shaft 415 is connected to the rotor part of the pitch axis motor 414, and is sequentially penetrated through the single bearing cover 413 and the deep groove ball bearing 412, so that the second end of the motor shaft 415 is connected to the optical system carrier 5 through the guide surface of the motor shaft adapter 411, so that the pitch axis motor 414 can drive the motor shaft 415 to rotate, and drive the optical system carrier 5 to rotate, that is, by adjusting the motor shaft system, the pitch freedom of the optical measurement system rotation axis installed on the optical system carrier 5 along the Y-axis direction can be adjusted.

[0044] Preferably, the outer ring of the deep groove ball bearing 412 is transitionally fitted with the motor shaft adapter 411, and the inner ring of the deep groove ball bearing 412 is interference fit with the motor shaft 415; the pitch axis motor 414 adopts a torque motor, which is used as the power source of the pitch axis system 4, and can avoid transmission errors.

[0045] like Figure 2 and Figure 4As shown, the encoder shaft system includes an encoder shaft adapter 421, a pitch bearing 422, an encoder shaft 425 and a pitch encoder 426. The encoder shaft adapter 421 is arranged on the turntable frame 32 on the second side of the turntable base 31, and is used to realize the detachable connection between the encoder shaft system and the turntable frame 32. The pitch bearing 422 is arranged inside the encoder shaft adapter 421, and the pitch bearing 422 is respectively provided with a double bearing outer pressure ring 423 and a double bearing inner pressure ring 424. By grinding the thickness of the double bearing outer pressure ring 423 and the double bearing inner pressure ring 424, the outer ring of the pitch bearing 422 can be pressed against the inner ring of the encoder shaft adapter 421, thereby positioning the pitch bearing 422 in the axial direction. The encoder shaft 425 is penetrated inside the pitch bearing 422, and the encoder shaft 425 is connected to the optical system carrier 5 through the guide surface of the encoder shaft adapter 421. The encoder shaft adapter 421 is symmetrically fixed with second encoder forks 427 on both sides along the circumferential direction. The rotor part of the pitch encoder 426 is positioned and connected to the encoder shaft 425 through a stopper, and the stator part of the pitch encoder 426 is connected to the second encoder fork 427 .

[0046] Preferably, an integrated pitch encoder 426 is used as the angle feedback element, and the pitch encoder 426 is directly connected to the encoder shaft 425, so that there is no need to rely on an external reference to adjust the pitch encoder 426 during the installation process, thereby avoiding measurement and adjustment errors from affecting the positioning accuracy. On the basis of meeting the portability, it can also meet the requirements of arc second level positioning accuracy.

[0047] Preferably, the pitch bearing 422 adopts a pair of high-precision angular contact ball bearings, which are installed back-to-back in contact inside the encoder shaft adapter 421; the outer ring of the angular contact ball bearing is transitionally fitted with the inner ring of the encoder shaft adapter 421, and the inner ring of the angular contact ball bearing is interference fit with the encoder shaft 425.

[0048] Among them, by setting a deep groove ball bearing 412 in the motor shaft system and setting a pair of high-precision angular contact ball bearings in the encoder shaft system, the thermal expansion effect caused by temperature can be effectively compensated, thereby improving the stability of the positioning accuracy of the pitch axis system 4.

[0049] like Figure 1 , Figure 4 and Figure 5As shown, the small two-axis precision optical tracking turntable also includes a mechanical limit device, which includes a mechanical limit contact block 81, a limit switch bracket 82, a mechanical limit seat 83, a mechanical limit rubber pad 84 and a pitch limit block 85. The mechanical limit contact block 81 is fixedly connected to the shaft end of the rotor part of the pitch axis motor 414, the limit switch bracket 82 is arranged on the turntable frame 32 on the first side of the turntable base 31, the two mechanical limit seats 83 are respectively connected to the two sides of the limit switch bracket 82, and the mechanical limit rubber pad 84 is connected to the top of the mechanical limit seat 83, thereby forming a double insurance, limiting the pitch rotation angle of the pitch axis system 4 within a predetermined range. The pitch limit block 85 is connected to the mechanical limit seat 83, and the pitch limit block 85 is located outside the turntable frame 32, so that the pitch limit block 85 can limit the optical system carrier 5.

[0050] Preferably, a pitch limit block 85 is also provided on the turntable frame 32 on the second side of the turntable base 31. The pitch limit block 85 on the second side of the turntable base 31 is directly connected to the turntable frame 32 to limit the pitch rotation angle of the optical system carrier 5. During transportation, the pitch limit block 87 can firmly press the optical system carrier 5 and the turntable frame 32, thereby effectively preventing the optical system carrier 5 from generating pitch rotation. Figure 1 As shown, under short-term handling conditions, the pitch limit block 87 can limit the optical system carrier 5 to the aiming axis along the X-axis direction; under long-term transportation conditions, the pitch limit block 87 can limit the optical system carrier 5 to the aiming axis along the Z-axis direction.

[0051] like Figure 4 and Figure 5 As shown, the small two-axis precision optical tracking turntable also includes an electric limit device, which includes a first limit switch 86 and a limit switch contact block 87. The two first limit switches 86 are respectively connected to the top and bottom of the limit switch bracket 82, and the limit switch contact block 87 is fastened to the mechanical limit contact block 81 by screws, so that when the pitch axis motor 414 rotates at a large angle, the limit switch contact block 87 can contact the first limit switch 86.

[0052] Specifically, when the rotation angle of the pitch axis motor 414 approaches the limit, the limit switch contact block 87 will first hit the first limit switch 86, thereby generating a power-off behavior to realize the electrical limit function; and when the electrical limit fails, the pitch axis system 4 continues to rotate, and at this time the limit switch contact block 82 hits the mechanical limit rubber pad 86, forcibly stopping the rotation effect of the pitch axis system 4, thereby realizing the mechanical limit. In other words, by providing the electrical limit device and the mechanical limit device, a double insurance can be formed, thereby ensuring the limit function of the pitch axis system 4.

[0053] like Figure 4As shown, a plurality of first annular grooves are provided on the first side of the optical system carrier 5, a plurality of second annular grooves are provided on the second side of the optical system carrier 5, a plurality of first annular convex edges are circumferentially arranged on the motor shaft adapter 411, and a plurality of second annular convex edges are circumferentially arranged on the encoder shaft adapter 421; wherein, the first annular groove is suitable for matching with the first annular convex edge, and the second annular groove is suitable for matching with the second annular convex edge, so that a labyrinth sealing structure is formed between the first annular groove and the first annular convex edge, and between the second annular groove and the second annular convex edge, which can effectively block the intrusion of water spray, dust, sand and gravel from the outside.

[0054] Preferably, sealing grooves are provided on both sides of the optical system carrier 5, and the sealing grooves are used to install felt strips to further prevent moisture and dust from entering the cavity of the optical system carrier 5. In other words, by providing a labyrinth seal structure and a felt seal structure in the relative motion link of the motor shaft system and the encoder shaft system, dynamic sealing of the optical system carrier 5 can be introduced without increasing the weight of the structure, thereby enhancing the protection capability of the optical system carrier 5.

[0055] like Figure 3 and Figure 5 As shown, the turntable system 3 also includes a turntable sealing upper ring 33, a turntable upper cover plate 34, a turntable left cover plate 35 and a turntable right cover plate 36. The turntable sealing upper ring 33 is connected to the bottom of the turntable frame 32, so that after the assembly between the azimuth axis system 2 and the turntable system 3 is completed, a labyrinth sealing structure is formed between the turntable sealing upper ring 33 and the turntable sealing lower ring 212, which can effectively block the intrusion of water spray, dust, sand and gravel from the outside.

[0056] like Figure 5 As shown, the turntable upper cover plate 34 is connected to the top of the first connecting hole by screws, the turntable left cover plate 35 is connected to the turntable frame 32 on the first side of the turntable base 31 by screws, and the turntable right cover plate 36 is connected to the turntable frame 32 on the second side of the turntable base 31 by screws, so as to achieve sealing of the turntable base 31 and the turntable frame 32.

[0057] Preferably, sealing materials such as sealing strips, sealing gaskets and sealants are also arranged between the turntable upper cover plate 34 and the turntable base 31, between the turntable left cover plate 35 and the turntable frame 32 on the first side of the turntable base 31, and between the turntable right cover plate 36 and the turntable frame 32 on the second side of the turntable base 31, for statically sealing the turntable base 31 and the turntable frame 32, thereby effectively isolating the interior of the turntable system 3 from the external environment, enhancing the protection capability, and at the same time meeting the requirement of quickly disassembling and assembling the turntable system 3 to facilitate maintenance of the pitch axis system 4.

[0058] like Figure 1 and Figure 5As shown, the turntable system 3 further includes a portable handle 37 and an auxiliary handle 38. The two portable handles 37 are respectively connected to the top of the turntable frame 32 on both sides of the turntable base 31 in a quick and detachable manner, and the portable handles 37 are arranged along the X-axis direction. The two auxiliary handles 38 are respectively connected to the turntable base 1 in a quick and detachable manner, and the auxiliary handles 38 are arranged along the Y-axis direction.

[0059] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0060] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A small two-axis precision optical tracking turntable, characterized in that: include: A base (1), wherein a plurality of leveling systems (7) are arranged on the base (1) along the circumference; An azimuth axis system (2), the azimuth axis system (2) being arranged above the base (1), the azimuth axis system (2) being connected to the leveling system (7), and the azimuth axis system (2) having an azimuth degree of freedom of the rotation axis along the Z-axis direction; A turntable system (3), the turntable system (3) being arranged above the azimuth axis system (2), the turntable system (3) comprising a turntable base (31) and a turntable frame (32) arranged on both sides of the turntable base (31); A pitch axis system (34), the pitch axis system (34) comprising a motor axis system and an encoder axis system, the motor axis system and the encoder axis system being respectively arranged on the turntable frame (32) on both sides of the turntable base (31); An optical system carrier (5), wherein two sides of the optical system carrier (5) are respectively connected to the motor shaft system and the encoder shaft system, so that the optical system carrier (5) has a pitch degree of freedom of the rotation axis along the Y-axis direction; An information integrated circuit board (6), the information integrated circuit board (6) is arranged inside the turntable frame (32), and the information integrated circuit board (6) is used to collect optical signals and / or electrical signals of the optical measurement system carried by the optical system carrier (5).

2. The small two-axis precision optical tracking turntable according to claim 1, characterized in that: The azimuth axis system (2) comprises: A bearing base (21), wherein the axis of the bearing base (21) is arranged in a vertical direction, the bottom of the bearing base (21) is connected to the base (1) via a base lower cover plate (211), the top of the bearing base (21) is connected to a turntable sealing lower ring (212), and both sides of the bearing base (21) are provided with flight plug cover plates (213); An azimuth bearing (22), the azimuth bearing (22) being arranged inside the bearing base (21), the top of the azimuth bearing (22) being provided with a bearing upper pressing ring (221), and the bottom of the azimuth bearing (22) being provided with a bearing lower pressing ring (222); An azimuth rotating shaft (23), wherein a first connecting hole is opened on the turntable base (31), the bottom of the azimuth rotating shaft (23) is penetrated through the azimuth bearing (22), and the top of the azimuth rotating shaft (23) is penetrated through the first connecting hole; A first motor (24), wherein a stator portion of the first motor (24) is connected to the bearing base (21), a rotor portion of the first motor (24) is connected to the azimuth rotating shaft (23), and the first motor (24) is used to drive the azimuth rotating shaft (23) to rotate.

3. The small two-axis precision optical tracking turntable according to claim 2, characterized in that: The azimuth axis system (2) further comprises: An azimuth encoder (25), wherein first encoder shift forks (251) are symmetrically arranged on both sides of the first motor (24) along the circumferential direction, a stator portion of the azimuth encoder (25) is connected to the first encoder shift fork (251), and a rotor portion of the azimuth encoder (25) is connected to the azimuth rotating shaft (23); A photoelectric combination slip ring (26), wherein a photoelectric slip ring fork (261) is arranged on the bearing base (21), a stator part of the photoelectric combination slip ring (26) is connected to the photoelectric slip ring fork (261), and a rotor part of the photoelectric combination slip ring (26) is connected to the azimuth rotating shaft (23); Wherein, the optoelectronic combined slip ring (26) is also electrically connected to the information integrated circuit board (6).

4. The small two-axis precision optical tracking turntable according to claim 2, characterized in that: The leveling system (7) comprises: A leveling connection seat (71), wherein a plurality of the leveling connection seats (71) are arranged on the base (1), and a first adjustment hole is provided on the leveling connection seat (71); A connecting flange (72), the connecting flange (72) being arranged at the bottom of the bearing base (21), and the connecting flange (72) being provided with a plurality of second adjustment holes (721); A leveling connection piece (73), wherein the leveling connection piece (73) is inserted into the first adjustment hole and the second adjustment hole (721), so that the leveling connection piece (73) can be used to level the azimuth axis system (2).

5. The small two-axis precision optical tracking turntable according to claim 1, characterized in that: The motor shaft system comprises: A motor shaft adapter (411), wherein the motor shaft adapter (411) is arranged on the turntable frame (32) on a first side of the turntable base (31); A deep groove ball bearing (412), wherein the deep groove ball bearing (412) is arranged inside the motor shaft adapter (411), and a single bearing pressure cover (413) is arranged on a side of the deep groove ball bearing (412) away from the optical system carrier (5); A pitch axis motor (414), wherein a stator portion of the pitch axis motor (414) is connected to the motor shaft adapter (411); A motor shaft (415), wherein a first end of the motor shaft (415) is connected to a rotor portion of the pitch axis motor (414), and is sequentially passed through the single bearing cover (413) and the deep groove ball bearing (412), so that a second end of the motor shaft (415) is connected to the optical system support frame (5).

6. The small two-axis precision optical tracking turntable according to claim 5, characterized in that: The encoder shaft system comprises: An encoder shaft adapter (421), the encoder shaft adapter (421) being arranged on the turntable frame (32) on the second side of the turntable base (31); A pitch bearing (422), wherein the pitch bearing (422) is arranged inside the encoder shaft adapter (421), and a double-bearing outer pressure ring (423) and a double-bearing inner pressure ring (424) are respectively arranged on the pitch bearing (422); An encoder rotating shaft (425), the encoder rotating shaft (425) is inserted into the interior of the pitch bearing (422), and the encoder rotating shaft (425) is connected to the optical system supporting frame (5); A pitch encoder (426), wherein the encoder shaft adapter (421) is symmetrically provided with second encoder forks (427) on both sides along the circumferential direction, the rotor part of the pitch encoder (426) is connected to the encoder shaft (425), and the stator part of the pitch encoder (426) is connected to the second encoder fork (427).

7. The small two-axis precision optical tracking turntable according to claim 5, characterized in that: Also includes: A mechanical limit device, the mechanical limit device comprising a mechanical limit contact block (81), a limit switch bracket (82), a mechanical limit seat (83), a mechanical limit rubber pad (84) and a pitch limit block (85), the mechanical limit contact block (81) being connected to the rotor part of the pitch axis motor (414), the limit switch bracket (82) being arranged on the turntable frame (32) on the first side of the turntable base (31), the two mechanical limit seats (83) being respectively connected to the two sides of the limit switch bracket (82), the mechanical limit rubber pad (84) being connected to the top of the mechanical limit seat (83), the pitch limit block (85) being connected to the mechanical limit seat (83), and the pitch limit block (85) being located outside the turntable frame (32); An electric limit device, the electric limit device comprising a first limit switch (86) and a limit switch contact block (87), the two first limit switches (86) being respectively connected to the top and bottom of the limit switch bracket (82), and the limit switch contact block (87) being connected to the mechanical limit contact block (81).

8. The small two-axis precision optical tracking turntable according to claim 6, characterized in that: A first side of the optical system carrier (5) is provided with a plurality of first annular grooves, a second side of the optical system carrier (5) is provided with a plurality of second annular grooves, a plurality of first annular convex edges are circumferentially arranged on the motor shaft adapter (411), and a plurality of second annular convex edges are circumferentially arranged on the encoder shaft adapter (421); The first annular groove is suitable for matching with the first annular convex edge, and the second annular groove is suitable for matching with the second annular convex edge, so that a labyrinth sealing structure is formed between the first annular groove and the first annular convex edge, and between the second annular groove and the second annular convex edge.

9. The small two-axis precision optical tracking turntable according to claim 2, characterized in that: The turntable system (3) further comprises: A turntable sealing upper ring (33), the turntable sealing upper ring (33) being connected to the bottom of the turntable frame (32) so that a labyrinth sealing structure is formed between the turntable sealing upper ring (33) and the turntable sealing lower ring (212); A cover plate (34) on the turntable, wherein the cover plate (34) on the turntable is connected above the first connection hole; A turntable left cover plate (35), the turntable left cover plate (35) being connected to the turntable frame (32) on a first side of the turntable base (31); A turntable right cover plate (36), wherein the turntable right cover plate (36) is connected to the turntable frame (32) on the second side of the turntable base (31).

10. The small two-axis precision optical tracking turntable according to claim 1, characterized in that: The turntable system (3) further comprises: a portable handle (37), the portable handle (37) being connected to the top of the turntable frame (32); An auxiliary handle (38), wherein the auxiliary handle (38) is connected to the turntable base (1).

Images