Lightweight novel two-dimensional rotary table

Abstract

The invention discloses a novel light-weight two-dimensional rotary table which comprises an orientation follow-up system arranged on a vehicle body and a high-low follow-up system arranged on the orientation follow-up system, and the orientation follow-up system comprises a rotary platform, a rotary support, a rotary driving device and an orientation locking fixator. The high-low follow-up system comprises a first high-low frame assembly and a second high-low frame assembly, and the first high-low frame assembly and the second high-low frame assembly are symmetrically arranged on the two sides of the rotary platform. The first high-low frame assembly comprises a first driving electric cylinder and a first high-low frame body, and the second high-low frame assembly comprises a second driving electric cylinder and a second high-low frame body; according to the novel lightweight two-dimensional rotary table, the two symmetrical high-low frame assemblies are arranged on the rotary platform, and driving electric cylinders of supports of the two high-low frame assemblies can be independently controlled, so that the two high-low frame assemblies can be connected with two different loads at the same time, the multi-load requirement of the rotary table is met, and the two high-low frame assemblies can be connected with the same load according to the actual use condition.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle-mounted turntables, and in particular, to a lightweight new two-dimensional turntable. Background Art

[0002] Turntable devices, as mechanical devices that can achieve precise rotation and positioning of objects, are widely used in industries, scientific research, aerospace and other fields. According to their uses, structures and performances, turntable devices can be divided into various types. The turntable devices installed on vehicle bodies are generally vehicle-mounted turntables, which can play the role of carrying devices and driving the devices to rotate. Existing vehicle-mounted turntables generally have a small load, and only azimuth and pitching functions need to be considered. The implementation forms of the pitching function flipping mainly include gear transmission mechanisms, worm gears, electric push rod mechanisms, etc. If a gear transmission mechanism is adopted, when the load is large and the angular stroke exceeds 90°, the gears occupy a large space. When a worm gear mechanism is adopted, the efficiency is low. The electric push rod has a compact structure and a high transmission efficiency. Therefore, most of the pitching systems in the prior art consider using electric push rods to achieve. However, electric push rods generally adopt a single cylinder arranged on the central plane of the structure or a double cylinder symmetrically arranged to synchronously drive the pitching platform to drive the load to rotate. If there are a large number of loads, the pitching system using a single cylinder or a double cylinder with synchronous control cannot meet the requirements of multiple loads. Summary of the Invention

[0003] Object of the Invention: To provide a lightweight new two-dimensional turntable to solve the problem that when there are a large number of loads in the prior art, the pitching system using a single cylinder or a double cylinder with synchronous control cannot meet the requirements of multiple loads.

[0004] Technical Solution:

[0005] A lightweight new two-dimensional turntable includes an azimuth follow-up system arranged on a vehicle body and a pitching follow-up system arranged on the azimuth follow-up system. The azimuth follow-up system includes a slewing platform, a slewing bearing, a slewing drive device and an azimuth locking fixture. The pitching follow-up system includes a first pitching frame assembly and a second pitching frame assembly. The first pitching frame assembly and the second pitching frame assembly are symmetrically arranged on both sides of the slewing platform, and the axiality of the first pitching frame assembly and the second pitching frame assembly is the same;

[0006] The slewing platform is installed on the slewing bearing, the slewing drive device is arranged on the slewing platform and connected to the slewing bearing for driving the slewing bearing to rotate, and the azimuth locking fixture is arranged on the slewing platform for limiting the position of the slewing platform on the vehicle body;

[0007] The first high-low frame assembly includes a first driving electric cylinder and a first high-low frame body. One end of the first high-low frame body is rotatably connected to the slewing platform. The first driving electric cylinder is arranged on the slewing platform and is used to drive the first high-low frame body to rotate. The second high-low frame assembly includes a second driving electric cylinder and a second high-low frame body. One end of the second high-low frame body is rotatably connected to the slewing platform. The second driving electric cylinder is arranged on the slewing platform and is used to drive the second high-low frame body to rotate;

[0008] The slewing bearing is a four-point contact ball bearing with internal teeth. The slewing drive device is located in the inner ring of the slewing bearing. The slewing drive device includes an azimuth encoder assembly meshing with the internal teeth of the slewing bearing and an azimuth drive mechanism for driving the azimuth encoder assembly to rotate.

[0009] In a further embodiment, the azimuth encoder assembly includes a first tooth piece, a second tooth piece, a tooth piece shaft, a spring and a rotary encoder. The tooth piece shaft is rotatably arranged on the slewing platform. The first tooth piece is fixedly sleeved on the tooth piece shaft. The second tooth piece is movably sleeved on the tooth piece shaft and is parallel and located above the first tooth piece. The rotary encoder is installed on the tooth piece shaft. The tooth block parts of the first tooth piece and the second tooth piece corresponding to each other up and down overlap and are located in the same tooth groove of the internal teeth of the slewing bearing. One of the two opposite groove surfaces of the same tooth groove is in contact with one side of the tooth block of the first tooth piece, and the other groove surface is in contact with one side of the tooth block of the second tooth piece. One side of the tooth block of the first tooth piece is opposite to one side of the tooth block of the second tooth piece;

[0010] The spring is located between the first tooth piece and the second tooth piece. One end of the spring is connected to the first connection point of the first tooth piece, and the other end is fixed to the second connection point of the second tooth piece. The line connecting the first connection point and the second connection point is perpendicular to the axis of the tooth piece shaft.

[0011] In a further embodiment, the azimuth locking fixator is installed on the rear right side of the slewing platform. The azimuth locking fixator includes a fixed seat, a handle, a plug pin rod, a lead screw nut pair and two proximity switches. The fixed seat is fixed on the slewing platform. The plug pin rod is installed on the lead screw nut pair. The lead screw nut pair is arranged in the fixed seat. A handle is arranged outside the fixed seat. The handle is connected to the lead screw nut pair. Both of the two proximity switches are arranged on the fixed seat and are located at both ends of the stroke of the plug pin rod.

[0012] In a further embodiment, the first high-low frame assembly further includes a first lower support ear of the electric cylinder, a first upper support ear of the electric cylinder, a first high-low frame support, a first support ear shaft of the electric cylinder, a first angle encoder, and a first handwheel. One end of the first high-low frame body is connected to the first high-low frame support, and the first high-low frame support is fixed on the slewing platform. The first angle encoder is disposed on a first pitching rotation shaft where the first high-low frame body is rotatably connected to the first high-low frame support. One end of the first driving electric cylinder is connected to the first upper support ear of the electric cylinder through a spherical plain bearing, and the other end is connected to the first lower support ear of the electric cylinder. The first upper support ear of the electric cylinder is disposed on the first high-low frame body, and the first lower support ear of the electric cylinder is disposed on the slewing platform. The first driving electric cylinder is provided with a first handwheel.

[0013] The second high-low frame assembly further includes a second lower support ear of the electric cylinder, a second upper support ear of the electric cylinder, a second high-low frame support, a second support ear shaft of the electric cylinder, a second angle encoder, and a second handwheel. One end of the second high-low frame body is connected to the second high-low frame support, and the second high-low frame support is fixed on the slewing platform. The second angle encoder is disposed on a second pitching rotation shaft where the second high-low frame body is rotatably connected to the second high-low frame support. One end of the second driving electric cylinder is connected to the second upper support ear of the electric cylinder through a spherical plain bearing, and the other end is connected to the second lower support ear of the electric cylinder. The second upper support ear of the electric cylinder is disposed on the second high-low frame body, and the second lower support ear of the electric cylinder is disposed on the slewing platform. The second driving electric cylinder is provided with a second handwheel.

[0014] In a further embodiment, the high-low follow-up system further includes two high-low locking fixators, and the two high-low locking fixators are respectively used to limit the positions of the first high-low frame assembly and the second high-low frame assembly on the slewing platform.

[0015] The two high-low locking fixators are respectively installed on the first high-low frame body and the second high-low frame body, and their structures are the same as those of the azimuth locking fixator.

[0016] In a further embodiment, the azimuth driving mechanism includes a motor, a speed reducer, and a driving pinion, and the output end of the motor is connected to the driving pinion through the speed reducer.

[0017] In a further embodiment, a firing control combined control box is further disposed on the slewing platform, and the firing control combined control box includes a servo control board and a driver.

[0018] Advantages of the present invention: By providing two symmetric high-low frame assemblies on the slewing platform, the drive electric cylinders of the brackets of the two high-low frame assemblies can be controlled independently, so that the two high-low frame assemblies can be connected to two different loads simultaneously to meet the multi-load requirements of the turntable, or can be connected to the same load according to the actual usage situation. Through the setting of the slewing platform and the slewing bearing with internal teeth, and by selecting a suitable azimuth drive mechanism in cooperation with the structure of the slewing bearing, the turntable of the present application has a high load-bearing capacity and a light self-weight, and realizes lightweight design on the basis of ensuring strength and stiffness. The turntable of the present application can withstand an impact force of 30g and has very high reliability. At the same time, three groups of locking fixators are added. The setting of the three groups of locking fixators can limit the positions of the two high-low frames and the slewing platform respectively, and can ensure the fixation and locking of the shafting during the transportation of the turntable, protect the turntable and improve the stability of the turntable. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the external structure of a lightweight new type two-dimensional turntable of the present invention.

[0020] Figure 2 It is a schematic diagram of a partial structure of the azimuth follow-up system of a lightweight new type two-dimensional turntable of the present invention.

[0021] Figure 3 It is a schematic diagram of the drive mechanism structure of a lightweight new type two-dimensional turntable of the present invention.

[0022] Figure 4 It is a schematic diagram of the structure of the azimuth encoder assembly of a lightweight new type two-dimensional turntable of the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the azimuth locking fixator of a lightweight new type two-dimensional turntable of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the high-low frame assembly of a lightweight new type two-dimensional turntable of the present invention.

[0025] The reference numerals are: azimuth servo system 1, slewing platform 1-1, slewing bearing 1-2, azimuth drive mechanism 1-3, motor 1-3-1, speed reducer 1-3-2, drive pinion 1-3-3, hand rocker 1-3-4, azimuth encoder assembly 1-4, first toothed plate 1-4-1, second toothed plate 1-4-2, toothed plate shaft 1-4-3, spring 1-4-4, rotary encoder 1-4-5, azimuth locking fixture 1-5, fixed seat 1-5-1, handle 1-5-2, plug rod 1-5-3, lead screw-nut pair 1-5-4, proximity switch 1-5-5, elevation and azimuth servo system 2, first elevation assembly 2-1, second elevation assembly 2-2, elevation and azimuth locking fixture 2-3, first lower support ear of electric cylinder 2-1-1, first upper support ear of electric cylinder 2-1-2, first elevation support 2-1-3, first electric cylinder support shaft 2-1-4, first driving electric cylinder 2-1-5, first angle encoder 2-1-6, first handwheel 2-1-7, first elevation frame 2-1-8, firing control combined control box 3, servo control board 3-1, driver 3-2. Detailed implementation manners

[0026] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

[0027] The present invention will be further described in detail below with reference to the accompanying drawings.

[0028] Refer to Figure 1-6, a lightweight new type of two-dimensional turntable disclosed by the present invention, includes an azimuth follow-up system 1 provided on a vehicle body and an elevation follow-up system 2 provided on the azimuth follow-up system 1. The azimuth follow-up system 1 includes a slewing platform 1-1, a slewing bearing 1-2, a slewing drive device, and an azimuth locking fixture 1-5. The elevation follow-up system 2 includes a first elevation frame assembly 2-1 and a second elevation frame assembly 2-2. The first elevation frame assembly 2-1 and the second elevation frame assembly 2-2 are symmetrically arranged on both sides of the slewing platform 1-1, and the axiality of the first elevation frame combination and the second elevation frame assembly 2-2 is the same; the slewing platform 1-1 is installed on the slewing bearing 1-2, and the slewing drive device is provided on the slewing platform 1-1 and connected to the slewing bearing 1-2 for driving the slewing bearing 1-2 to rotate. The azimuth locking fixture 1-5 is provided on the slewing platform 1-1 for limiting the position of the slewing platform 1-1 on the vehicle body; the first elevation frame assembly 2-1 includes a first driving electric cylinder 2-1-5 and a first elevation frame body 2-1-8. One end of the first elevation frame body 2-1-8 is rotatably connected to the slewing platform 1-1, and the first driving electric cylinder 2-1-5 is provided on the slewing platform 1-1 for driving the first elevation frame body 2-1-8 to rotate. The second elevation frame assembly 2-2 includes a second driving electric cylinder and a second elevation frame body. One end of the second elevation frame body is rotatably connected to the slewing platform 1-1, and the second driving electric cylinder is provided on the slewing platform 1-1 for driving the second elevation frame body to rotate; the slewing bearing 1-2 is a four-point contact ball bearing with internal teeth, and the slewing drive device is located in the inner ring of the slewing bearing 1-2. The slewing drive device includes an azimuth encoder assembly 1-4 meshing and driving with the internal teeth of the slewing bearing 1-2 and an azimuth drive mechanism 1-3 for driving the azimuth encoder assembly 1-4 to rotate. The slewing platform 1-1 adopts a topology optimization design. The design domain is the entire space area that the slewing platform 1-1 can occupy, and the non-design domain is the interface position between the slewing platform 1-1 and other devices and some non-design parts. The design domain and the non-design domain are segmented, and the design domain and the non-design domain share nodes. According to the design requirements, the quality retention percentage objective function is set as the structural compliance (deflection), and the SIMP method is used for structural topology optimization. The results of the topology optimization are engineered, such as straightening the structure and adding chamfers, etc. Finally, the size optimization can be carried out according to the engineered structure of the slewing platform 1-1. Since the optimization process requires finite element simulation, the calculation speed is slow, and the response surface method can be used to improve the speed of structural optimization. The present invention uses high-strength aluminum alloy 7085 material as the processing material for the slewing platform 1-1 to meet the strength, stiffness, and quality requirements of the system. The tensile strength of this material in the T6 state is 520 MPa, and the yield strength is 456 MPa, and it can maintain good performance in low-temperature environments and is commonly used for making lightweight and high-load parts.Above the slewing platform 1-1, there are installation interfaces for the azimuth drive mechanism 1-3, azimuth encoder, lower lug of the electric cylinder, and the height locking fixture 2-3. Below the slewing platform 1-1, there is an installation interface for the slewing bearing 1-2. On the right rear of the slewing platform 1-1, there is an installation interface for the azimuth locking fixture 1-5. The slewing platform 1-1 has reserved wire holes and cable fixing interfaces at specific positions to meet the wire routing requirements and facilitate later maintenance. The slewing bearing 1-2 is a four-point contact ball bearing with internal teeth, which serves both as the main transmission component and the main rotating support, providing the azimuth rotating shaft. This bearing is a type of bearing that can simultaneously withstand large axial loads, radial loads, and overturning moments and other combined loads. The bearings themselves are all equipped with mounting holes, lubricating oil holes, and sealing devices, which can meet the different requirements of various main engines operating under various different working conditions. The application of the slewing bearing 1-2 makes the azimuth structure more compact. At the same time, the internal space of the bearing is large, which is convenient for the coaxial installation of slip rings, joints, etc., reducing the axial dimension of the azimuth device, and thus reducing the overall external dimension of the system. The slewing bearing 1-2 is machined from high-strength alloy steel 42CrMo material. In addition, since the operating environment of the system is outdoors, the bearing needs to be anti-corrosion treated, and the exposed surface is sprayed with zinc and then painted.

[0029] The azimuth encoder assembly 1-4 includes a first toothed plate 1-4-1, a second toothed plate 1-4-2, a toothed plate shaft 1-4-3, a spring 1-4-4, and a rotary encoder 1-4-5. The toothed plate shaft 1-4-3 is rotatably arranged on the rotary platform 1-1. The first toothed plate 1-4-1 is fixedly sleeved on the toothed plate shaft 1-4-3. The second toothed plate 1-4-2 is movably sleeved on the toothed plate shaft 1-4-3 and is parallel and located above the first toothed plate 1-4-1. The rotary encoder 1-4-5 is installed on the toothed plate shaft 1-4-3. The tooth block portions of the first toothed plate 1-4-1 and the second toothed plate 1-4-2 that correspond to each other up and down overlap and are located in the same tooth groove of the internal teeth of the rotary support 1-2. One of the two opposite groove surfaces of the same tooth groove is in contact with one surface of the tooth block of the first toothed plate 1-4-1, and the other groove surface is in contact with one surface of the tooth block of the second toothed plate 1-4-2. One surface of the tooth block of the first toothed plate 1-4-1 faces away from one surface of the tooth block of the second toothed plate 1-4-2. The spring 1-4-4 is located between the first toothed plate 1-4-1 and the second toothed plate 1-4-2. One end of the spring 1-4-4 is connected to the first connection point of the first toothed plate 1-4-1, and the other end is fixed to the second connection point of the second toothed plate 1-4-2. The line between the first connection point and the second connection point is perpendicular to the axis of the toothed plate shaft 1-4-3. A round nut, a lock washer, and a key are also provided on the toothed plate shaft 1-4-3 for limiting the toothed plate. Since the rotary encoder 1-4-5 cannot be installed at the rotary center in the general way, an additional stage of gear transmission is adopted for indirect angle measurement. However, this method usually introduces additional errors caused by gear machining accuracy and backlash. Among them, the error caused by backlash has a greater impact on the angle measurement accuracy. Therefore, the present invention adopts the method of mechanical backlash elimination with double toothed plates to achieve backlash-free transmission, that is, two gears are coaxially installed at the shaft end of the rotary encoder 1-4-5. One of them is a fixed gear, namely the first toothed plate 1-4-1, and the other is a floating gear, namely the second toothed plate 1-4-2. A pre-tensioned spring 1-4-4 is pre-installed between them. Due to the action of the spring 1-4-4, the teeth of the two gears are respectively in contact with the two side surfaces of the internal teeth of the rotary support 1-2, thus achieving the purpose of backlash elimination and improving the transmission accuracy.

[0030] The azimuth locking fixture 1-5 is installed on the rear right side of the slewing platform 1-1. The azimuth locking fixture 1-5 includes a fixed seat 1-5-1, a handle 1-5-2, a pin rod 1-5-3, a lead screw nut pair 1-5-4, and two proximity switches 1-5-5. The fixed seat 1-5-1 is fixed on the slewing platform 1-1. The pin rod 1-5-3 is installed on the lead screw nut pair 1-5-4. The lead screw nut pair is arranged in the fixed seat 1-5-1. A handle 1-5-2 is provided outside the fixed seat 1-5-1. The handle 1-5-2 is connected to the lead screw nut pair. The two proximity switches 1-5-5 are both arranged on the fixed seat 1-5-1 and located at both ends of the stroke of the pin rod 1-5-3. The azimuth locking fixture 1-5 adopts a manual locking method. Rotating the handle 1-5-2 can drive the lead screw to rotate, so that the nut pair moves, driving the position of the pin rod 1-5-3 to change, so that the pin rod 1-5-3 is inserted into the hole groove opened on the vehicle body to lock the slewing platform 1-1. The diameter of the inserted part of the pin rod 1-5-3 is φ39.5mm. The front end is designed with a chamfer for easy insertion, and the rear end is provided with a handle 1-5-2 for easy operation by personnel. The proximity switches 1-5-5 designed at both ends of the stroke of the pin rod 1-5-3 are respectively used for sensing the locking and unlocking states of the pin rod 1-5-3, and feeding back the signals to the control system to ensure the safe operation of the system.

[0031] The first high-low frame assembly 2-1 further includes a first lower support ear 2-1-1 of the electric cylinder, a first upper support ear 2-1-2 of the electric cylinder, a first high-low frame support 2-1-3, a first support ear shaft 2-1-4 of the electric cylinder, a first angle encoder 2-1-6, and a first handwheel 2-1-7. One end of the first high-low frame body 2-1-8 is connected to the first high-low frame support 2-1-3, and the first high-low frame support 2-1-3 is fixed on the slewing platform 1-1. The first angle encoder 2-1-6 is arranged on a first pitching rotation shaft where the first high-low frame body 2-1-8 is rotatably connected to the first high-low frame support 2-1-3. One end of the first driving electric cylinder 2-1-5 is connected to the first upper support ear 2-1-2 of the electric cylinder through a spherical plain bearing, and the other end is connected to the first lower support ear 2-1-1 of the electric cylinder. The first upper support ear 2-1-2 of the electric cylinder is arranged on the first high-low frame body 2-1-8, and the first lower support ear 2-1-1 of the electric cylinder is arranged on the slewing platform 1-1. The first driving electric cylinder 2-1-5 is provided with a first handwheel 2-1-7. The second high-low frame assembly 2-2 further includes a second lower support ear of the electric cylinder, a second upper support ear of the electric cylinder, a second high-low frame support, a second support ear shaft of the electric cylinder, a second angle encoder, and a second handwheel. One end of the second high-low frame body is connected to the second high-low frame support, and the second high-low frame support is fixed on the slewing platform 1-1. The second angle encoder is arranged on a second pitching rotation shaft where the second high-low frame body is rotatably connected to the second high-low frame support. One end of the second driving electric cylinder is connected to the second upper support ear of the electric cylinder through a spherical plain bearing, and the other end is connected to the second lower support ear of the electric cylinder. The second upper support ear of the electric cylinder is arranged on the second high-low frame body, and the second lower support ear of the electric cylinder is arranged on the slewing platform 1-1. The second driving electric cylinder is provided with a second handwheel. The structure of the second high-low frame assembly is the same as that of the first high-low frame assembly. Therefore, no drawings and illustrations are added. Refer to Figure 6 That is the structure of the two high-low frame assemblies. The handwheel facilitates the manual control of the high-low follow-up system 2 in the case of power failure. The driving electric cylinder makes the high-low frame body perform pitching rotation around the axis system of the high-low frame support by extending and shortening. The two driving electric cylinders can be controlled separately, so that the two high-low frame bodies can be connected to different loads simultaneously, or can be connected to the same load simultaneously, which is more flexible.

[0032] The elevation servo system 2 further includes two elevation locking fixators 2-3, which are respectively used to limit the positions of the first elevation frame assembly 2-1 and the second elevation frame assembly 2-2 on the slewing platform 1-1. The two elevation locking fixators 2-3 are respectively installed on the first elevation frame body 2-1-8 and the second elevation frame body, and their structures are the same as that of the azimuth locking fixator 1-5. The elevation locking fixators 2-3 are respectively installed at the front end positions below the two sides of the elevation frames, that is, away from the pitching rotation axis.

[0033] The azimuth drive mechanism 1-3 includes a motor 1-3-1, a speed reducer 1-3-2, and a drive pinion 1-3-3. The output end of the motor 1-3-1 is connected to the drive pinion 1-3-3 through the speed reducer 1-3-2. After two-stage speed reduction and force increase through the speed reducer 1-3-2 and the gear pair, that is, the drive pinion 1-3-3 and the slewing bearing 1-2, it drives the slewing platform 1-1 and the upper equipment to rotate. The encoder monitors and feeds back the position information in real time. A hand crank 1-3-4 is also provided on the motor 1-3-1, which can manually control the azimuth servo system 1 to work in the case of power failure.

[0034] A firing control combined control box 3 is also provided on the slewing platform 1-1. The firing control combined control box 3 includes a servo control board 3-1 and a driver 3-2. When the equipment is working, the servo control board 3-1 sends a motion command to the driver 3-2 to drive the motor 1-3-1. After two-stage speed reduction and force increase through the speed reducer 1-3-2 and the gear pair, that is, the drive pinion 1-3-3 and the slewing bearing 1-2, it drives the slewing platform 1-1 and the upper equipment to rotate. The encoder monitors and feeds back the position information in real time.

[0035] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0036] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept scope of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A lightweight new type of two-dimensional turntable, characterized in that: It includes an azimuth servo system provided on the vehicle body and an elevation servo system provided on the azimuth servo system. The azimuth servo system includes a slewing platform, a slewing bearing, a slewing drive device and an azimuth locking fixture. The elevation servo system includes a first elevation frame assembly and a second elevation frame assembly. The first elevation frame assembly and the second elevation frame assembly are symmetrically arranged on both sides of the slewing platform, and the axiality of the first elevation frame assembly and the second elevation frame assembly is the same; The slewing platform is installed on the slewing bearing. The slewing drive device is provided on the slewing platform and connected to the slewing bearing to drive the slewing bearing to rotate. The azimuth locking fixture is provided on the slewing platform to limit the position of the slewing platform on the vehicle body; The first elevation frame assembly includes a first drive electric cylinder and a first elevation frame body. One end of the first elevation frame body is rotatably connected to the slewing platform. The first drive electric cylinder is provided on the slewing platform to drive the first elevation frame body to rotate. The second elevation frame assembly includes a second drive electric cylinder and a second elevation frame body. One end of the second elevation frame body is rotatably connected to the slewing platform. The second drive electric cylinder is provided on the slewing platform to drive the second elevation frame body to rotate; The slewing bearing is a four-point contact ball bearing with internal teeth. The slewing drive device is located in the inner ring of the slewing bearing. The slewing drive device includes an azimuth encoder assembly meshing and driving with the internal teeth of the slewing bearing and an azimuth drive mechanism driving the azimuth encoder assembly to rotate.

2. The lightweight new two-dimensional turntable according to claim 1, wherein: The azimuth encoder assembly includes a first tooth piece, a second tooth piece, a tooth piece shaft, a spring and a rotary encoder. The tooth piece shaft is rotatably provided on the slewing platform. The first tooth piece is fixedly sleeved on the tooth piece shaft. The second tooth piece is movably sleeved on the tooth piece shaft and is parallel and located above the first tooth piece. The rotary encoder is installed on the tooth piece shaft. The tooth block parts of the first tooth piece and the second tooth piece corresponding to each other up and down overlap and are located in the same tooth slot of the internal teeth of the slewing bearing. One of the two opposite slot surfaces of the same tooth slot is in contact with one surface of the tooth block of the first tooth piece, and the other slot surface is in contact with one surface of the tooth block of the second tooth piece. One surface of the tooth block of the first tooth piece is opposite to one surface of the tooth block of the second tooth piece; The spring is located between the first tooth piece and the second tooth piece. One end of the spring is connected to the first connection point of the first tooth piece, and the other end is fixed to the second connection point of the second tooth piece. The line between the first connection point and the second connection point is perpendicular to the axis of the tooth piece shaft.

3. A lightweight new two-dimensional turntable according to claim 1, characterized in that: The azimuth locking fixture is installed on the rear right side of the slewing platform. The azimuth locking fixture includes a fixed seat, a handle, a bolt rod, a lead screw nut pair, and two proximity switches. The fixed seat is fixed on the slewing platform. The bolt rod is installed on the lead screw nut pair. The lead screw nut pair is arranged in the fixed seat. A handle is provided outside the fixed seat. The handle is connected to the lead screw nut pair. The two proximity switches are both arranged on the fixed seat and located at both ends of the stroke of the bolt rod.

4. A lightweight new two-dimensional turntable according to claim 1, characterized in that: The first high-low frame assembly further includes a first electric cylinder lower ear, a first electric cylinder upper ear, a first high-low frame support, a first electric cylinder ear shaft, a first angle encoder, and a first handwheel. One end of the first high-low frame body is connected to the first high-low frame support. The first high-low frame support is fixed on the slewing platform. The first angle encoder is arranged on the first pitching rotation shaft where the first high-low frame body is rotatably connected to the first high-low frame support. One end of the first driving electric cylinder is connected to the first electric cylinder upper ear through a spherical plain bearing, and the other end is connected to the first electric cylinder lower ear. The first electric cylinder upper ear is arranged on the first high-low frame body. The first electric cylinder lower ear is arranged on the slewing platform. A first handwheel is provided on the first driving electric cylinder. The second high-low frame assembly further includes a second electric cylinder lower ear, a second electric cylinder upper ear, a second high-low frame support, a second electric cylinder ear shaft, a second angle encoder, and a second handwheel. One end of the second high-low frame body is connected to the second high-low frame support. The second high-low frame support is fixed on the slewing platform. The second angle encoder is arranged on the second pitching rotation shaft where the second high-low frame body is rotatably connected to the second high-low frame support. One end of the second driving electric cylinder is connected to the second electric cylinder upper ear through a spherical plain bearing, and the other end is connected to the second electric cylinder lower ear. The second electric cylinder upper ear is arranged on the second high-low frame body. The second electric cylinder lower ear is arranged on the slewing platform. A second handwheel is provided on the second driving electric cylinder.

5. A lightweight new two-dimensional turntable according to claim 1, characterized in that: The high-low follow-up system further includes two high-low locking fixtures, which are respectively used to limit the positions of the first high-low frame assembly and the second high-low frame assembly on the slewing platform. The two high-low locking fixtures are respectively installed on the first high-low frame body and the second high-low frame body, and their structures are the same as that of the azimuth locking fixture.

6. A lightweight new two-dimensional turntable according to claim 1, characterized in that: The azimuth driving mechanism includes a motor, a speed reducer, and a driving pinion. The output end of the motor is connected to the driving pinion through the speed reducer.

7. A lightweight new two-dimensional turntable according to claim 1, characterized in that: A firing control combined control box is further provided on the slewing platform. The firing control combined control box includes a servo control board and a driver.

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