Double-frame photoelectric pitching turntable

Abstract

The invention discloses a double-frame photoelectric pitching rotary table which comprises a U-shaped pitching frame, an outer frame, an inner frame, an inner frame driving motor, an outer frame driving motor, a controller and an encoder. The left end of the inner frame and the left end of the outer frame share the same left shaft barrel, the right end of the inner frame is rotationally connected to the second through hole of the outer frame, the first shaft barrel connected to the right side wall of the outer frame is rotationally connected into the right shaft hole of the right arm plate, and therefore the double-frame pitching rotary table saves space and is compact in structure, and the structural strength of the whole system is guaranteed. As the encoder can directly monitor the first angular displacement between the inner frame and the U-shaped pitching frame, when a carrier runs on a bumpy road surface, the encoder senses the bumpy road surface, and the controller controls the inner frame driving motor and the outer frame driving motor to overcome the influence of the bumpy road surface, wind resistance and various friction torques on the reconnaissance precision, so that the reconnaissance precision is improved. According to the double-frame pitching turntable, intermediate links are reduced, the cost is saved, and the reconnaissance precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of optoelectronic turrets, and in particular to a double-frame optoelectronic pitch turntable. Background Art

[0002] The vehicle-mounted optoelectronic reconnaissance system uses many electronic devices to realize its functions of tracking, capturing, aiming at targets, and indicating target positions. The optoelectronic turret is the carrier for integrating these electronic devices.

[0003] Photoelectric turret Figure 1 As shown in the figure, it is generally divided into two parts: the pitch turntable and the azimuth turntable. The pitch turntable is located above the azimuth turntable. When the reconnaissance vehicle is conducting reconnaissance in the field, it travels on uneven roads in the field, which causes great bumps and vibrations to the optoelectronic reconnaissance equipment inside the pitch turntable. In addition, wind force and friction torque of the sealing device also have a great impact on the stability and accuracy of the optoelectronic reconnaissance equipment.

[0004] In order to solve the above problems, the traditional pitch double-frame structure has an inner frame installed on an outer frame. The inner and outer frames each have a set of motor encoders. The outer frame overcomes wind resistance, friction torque of the sealing device, etc., and the inner frame is responsible for stabilizing sensors such as reconnaissance equipment. However, this structure brings new problems: First, since it is an inner and outer frame structure with four axes, the structure is complex, resulting in low structural strength and difficulty in adapting to complex bumpy roads; second, there are two encoders in the system, and the reconnaissance accuracy depends on the sum of the accuracies of the inner frame encoder and the outer frame encoder, thereby reducing the reconnaissance accuracy of the photoelectric sensor. Summary of the Invention

[0005] The present application provides a dual-frame optoelectronic pitch turntable, which can solve the technical problems of the prior art such as the complex structure, low structural strength, and low reconnaissance accuracy of the pitch dual-frame turntable. The technical solution is as follows:

[0006] A double-frame photoelectric pitch turntable comprises a U-shaped pitch frame, an outer frame, an inner frame, an inner frame drive motor, an outer frame drive motor, a controller and an encoder.

[0007] The U-shaped pitch frame includes a left arm plate and a right arm plate parallel to each other, and a bottom arm plate connecting the left arm plate and the right arm plate, the outer side of the bottom arm plate is used to connect the rotation output shaft of the azimuth turntable; the left arm plate has a left axis hole, the right arm plate has a right axis hole, and the central axis of the left axis hole is collinear with the central axis of the right axis hole.

[0008] The outer frame includes a left side wall and a right side wall, the left side wall has a first through hole, the right side wall has a second through hole, and the right side wall is connected to a first shaft cylinder having a central axis coaxial with the second through hole;

[0009] The inner frame includes a mounting plate, a left shaft cylinder fixedly connected to the left end of the mounting plate, and a right shaft cylinder fixedly connected to the right end of the mounting plate. The left shaft cylinder sequentially passes through the left shaft hole and the first through hole and is rotatably connected to the left side wall 201 and the left arm plate respectively. The right shaft cylinder passes through the second through hole and passes through the first shaft cylinder. The right shaft cylinder is rotatably connected to the second through hole and the first shaft cylinder respectively. The mounting plate is used to install the optical-mechanical assembly.

[0010] An inner frame driving motor for driving the inner frame to rotate, an outer frame driving motor for driving the outer frame to rotate, a controller and an encoder.

[0011] The encoder is electrically connected to the controller, the inner frame drive motor and the outer frame drive motor respectively, and is used to monitor the first angular displacement between the inner frame and the U-shaped pitch frame; the controller is used to control the inner frame drive motor and the outer frame drive motor according to the first angular displacement.

[0012] Optionally, a first bearing is provided in the first through hole; a second bearing is provided in the left shaft hole; the left shaft tube passes through the first bearing and the second bearing in sequence, and cooperates with the inner ring of the first bearing and the inner ring of the second bearing.

[0013] Optionally, a third bearing is provided in the second through hole, and the right shaft tube passes through the third bearing and cooperates with the inner ring of the third bearing; a fourth bearing is provided in the right shaft hole, and the first shaft tube passes through the fourth bearing and cooperates with the inner ring of the fourth bearing.

[0014] Optionally, the inner frame drive motor is located on the left arm plate, and the outer frame drive motor is located on the right arm plate.

[0015] Optionally, a second shaft cylinder with a coaxial axis with the left shaft hole is provided on the outer side of the left arm plate; the inner frame drive motor is a torque motor, including a first cylindrical housing and having a first output cylinder, the first cylindrical housing is fixedly connected to the second shaft cylinder, and the first output cylinder is fixedly connected to the left shaft cylinder; a third shaft cylinder with a coaxial axis with the right shaft hole is provided on the outer side of the right arm plate; the outer frame drive motor is a torque motor, including a second cylindrical housing and having a second output cylinder, the second cylindrical housing is fixedly connected to the third shaft cylinder, and the second output cylinder is fixedly connected to the right shaft cylinder.

[0016] Optionally, the encoder includes an encoder rotor and an encoder stator, the encoder stator is fixedly mounted on the left arm plate, and the encoder rotor is fixedly connected to the left shaft cylinder.

[0017] Optionally, a fan gear is fixedly connected to the right shaft cylinder; the dual-frame photoelectric pitch turntable also includes a gear dial potentiometer fixedly connected to the right side wall; the output shaft of the gear dial potentiometer is connected to a gear dial, and the fan gear is engaged with the gear dial; the gear dial potentiometer is electrically connected to the controller and the outer frame drive motor respectively, and is used to monitor the second angular displacement between the inner frame and the outer frame; the controller is used to control the inner frame drive motor and the outer frame drive motor according to the second angular displacement.

[0018] Optionally, channels for the connecting lines to pass through are provided in the left arm plate, the right arm plate, and the bottom arm plate.

[0019] Optionally, the outer frame includes a hollow cuboid without a cover, and a cover body; the U-shaped pitch frame also includes a left end cover for closing the second shaft cylinder, and a right end cover for closing the third shaft cylinder.

[0020] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0021] A dual-frame photoelectric pitch turntable comprises a U-shaped pitch frame, an outer frame, an inner frame, an inner frame drive motor, an outer frame drive motor, a controller, and an encoder. The inner frame's left shaft cylinder sequentially passes through the outer frame's left side wall and the U-shaped pitch frame's left arm plate, and is simultaneously rotatably connected to the left side wall and the left arm plate. The inner and outer frames share a common left shaft cylinder at their left ends. The inner frame's right end is rotatably connected to the outer frame's second through hole, while the first shaft cylinder connected to the outer frame's right side wall is rotatably connected to the right shaft hole of the right arm plate. Consequently, the dual-frame pitch turntable of the present application saves space and has a compact structure, ensuring the structural strength of the entire system. Since the encoder can directly monitor the first angular displacement between the inner frame and the U-shaped pitch frame, when the carrier travels on a bumpy road, the encoder senses the bump. After processing by the controller, the controller controls the inner frame drive motor and the outer frame drive motor to overcome the impact of road bumps, wind resistance, and various friction torques on reconnaissance accuracy. Compared with the related art that requires configuring two encoders and calculating the angular displacement by conversion, the inner frame and outer frame of the present application share one encoder, which reduces intermediate links, saves costs, and ensures reconnaissance accuracy.

[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 1 is a front view of an optoelectronic turret including an azimuth turntable and a dual-frame elevation turntable provided in an embodiment of the present application;

[0025] Figure 2 This is a front cross-section of a U-shaped pitch frame in a dual-frame pitch turntable provided in an embodiment of the present application;

[0026] Figure 3 This is a front cross-section of the outer frame of the dual-frame pitch turntable provided in an embodiment of the present application;

[0027] Figure 4 This is a front cross-section of the inner frame of the dual-frame pitch turntable provided in an embodiment of the present application;

[0028] Figure 5 1 is a front cross-section of the dual-frame pitch turntable provided in an embodiment of the present application;

[0029] Figure 6 yes Figure 5 A partial enlarged view of point A in the middle;

[0030] Figure 7 yes Figure 5 A partial enlarged view of point B in the middle.

[0031] Description of Reference Numerals

[0032] 1-U-shaped pitch frame; 101-left arm plate; 1011-left axis hole; 102-right arm plate; 1021-right axis hole; 103-bottom arm plate; 104-second axis cylinder; 105-third axis cylinder; 106-left end cover; 107-right end cover; 2-outer frame; 201-left side wall; 2011-first through hole; 202-right side wall; 2021-second through hole; 203-first axis cylinder; 204-cover; 3-inner frame; 301-mounting plate; 302-left Shaft cylinder; 303-right shaft cylinder; 4-optical-mechanical assembly; 5-inner frame drive motor; 501-first cylindrical housing; 502-first output cylinder; 6-outer frame drive motor; 601-second cylindrical housing; 602-second output cylinder; 7-first bearing; 8-second bearing; 9-third bearing; 10-fourth bearing; 11-encoder; 111-encoder rotor; 112-encoder stator; 12-fan gear; 13-gear dial potentiometer; 14-azimuth turntable. DETAILED DESCRIPTION

[0033] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0034] In this disclosure, unless otherwise indicated, directional terms such as "upper" and "lower" generally refer to the relative positions of the corresponding components in the direction of gravity when in use. "Inside" and "outside" refer to the relative positions of the corresponding components themselves. Furthermore, the terms "first" and "second" used in this disclosure are intended to distinguish one element from another and do not convey sequential or significant meanings. In the following description, when referring to the drawings, unless otherwise indicated, identical reference numerals in different drawings indicate identical or similar elements.

[0035] According to the embodiments of this application, reference Figure 1 , Figure 1 It is a front view of the optoelectronic turret including the azimuth turntable 14 and the double-frame pitch turntable provided in the embodiment of the present application.

[0036] refer to Figure 5 As shown, a dual-frame photoelectric pitch turntable includes: a U-shaped pitch frame 1, an outer frame 2, an inner frame 3, an inner frame drive motor 5, an outer frame drive motor 6, a controller and an encoder 11.

[0037] Among them, reference Figure 2 As shown, the U-shaped pitch frame 1 includes a left arm plate 101 and a right arm plate 102 parallel to each other, and a bottom arm plate 103 connecting the left arm plate 101 and the right arm plate 102, and the outer side of the bottom arm plate 103 is used to connect the rotation output shaft of the azimuth turntable 14; the left arm plate 101 has a left axis hole 1011, and the right arm plate 102 has a right axis hole 1021, and the central axis of the left axis hole 1011 is collinear with the central axis of the right axis hole 1021.

[0038] refer to Figure 3 As shown, the outer frame 2 includes a left side wall 201 and a right side wall 202 . The left side wall 201 has a first through hole 2011 , the right side wall 202 has a second through hole 2021 , and the right side wall 202 is connected to a first shaft cylinder 203 having a coaxial axis with the second through hole 2021 .

[0039] refer to Figure 4As shown, the inner frame 3 includes a mounting plate 301, a left shaft cylinder 302 fixedly connected to the left end of the mounting plate 301, and a right shaft cylinder 303 fixedly connected to the right end of the mounting plate 301. The left shaft cylinder 302 sequentially passes through the left shaft hole 1011 and the first through hole 2011 and is rotatably connected to the left side wall 201 and the left arm plate 101 respectively. The right shaft cylinder 303 passes through the second through hole 2021 and passes into the first shaft cylinder 203. The right shaft cylinder 303 is rotatably connected to the second through hole 2021 and the first shaft cylinder 203 respectively. The mounting plate 301 is used to install the optical-mechanical component 4.

[0040] The inner frame driving motor 5 is used to drive the inner frame 3 to rotate, and the outer frame driving motor 6 is used to drive the outer frame 2 to rotate.

[0041] Among them, the encoder 11 is electrically connected to the controller, the inner frame drive motor 5 and the outer frame drive motor 6 respectively, and is used to monitor the first angular displacement between the inner frame 3 and the U-shaped pitch frame 1; the controller is used to control the inner frame drive motor 5 and the outer frame drive motor 6 according to the first angular displacement.

[0042] In the above embodiment, the left shaft cylinder 302 of the inner frame 3 passes through the left side wall 201 of the outer frame 2 and the left arm plate 101 of the U-shaped pitch frame 1 in sequence and is rotatably connected to the left side wall 201 and the left arm plate 101 at the same time. It can be seen that the left ends of the inner frame 3 and the outer frame 2 share the same left shaft cylinder 302, and the right end of the inner frame 3 is rotatably connected to the second through hole 2021 of the outer frame 2, and the first shaft cylinder 203 connected to the right side wall 202 of the outer frame 2 is rotatably connected to the right shaft hole 1021 of the right arm plate 102. Therefore, the dual-frame pitch turntable of the present application saves space, has a compact structure, and ensures the structural strength of the entire system. Since the encoder 11 can directly monitor the first angular displacement between the inner frame 3 and the U-shaped pitch frame 1, when the carrier travels on a bumpy road, the encoder 11 senses the bump. After processing by the controller, the controller controls the inner frame drive motor 5 and the outer frame drive motor 6 to overcome the impact of road bumps, wind resistance, and various friction torques on the reconnaissance accuracy. Compared with the related art that requires configuring two encoders 11 and calculating the angular displacement by conversion, the inner frame 3 and the outer frame 2 of the present application share one encoder 11, which reduces the intermediate links, saves costs, and ensures the reconnaissance accuracy.

[0043] According to the embodiments of this application, reference Figure 5 and Figure 6The first through-hole 2011 houses the first bearing 7, and the left shaft hole 1011 houses the second bearing 8. The left shaft cylinder 302 passes through the first and second bearings 7 and 8, respectively, and engages with the inner races of the first and second bearings 7 and 8, respectively. This shows that the left shaft cylinder 302 is rotationally connected to both the left arm plate 101 and the left side wall 201, meaning that the left side of the dual-frame optoelectronic tilt turntable shares a single left shaft cylinder 302.

[0044] According to the embodiments of this application, reference Figure 5 and Figure 7 The third bearing 9 is disposed in the second through-hole 2021, and the right shaft cylinder 303 passes through the third bearing 9 and engages with the inner race of the third bearing 9. The fourth bearing 10 is disposed in the right shaft hole 1021, and the first shaft cylinder 203 passes through the fourth bearing 10 and engages with the inner race of the fourth bearing 10. It can be seen that on the right side of the dual-frame optoelectronic pitch turntable, the right shaft cylinder 303 first rotates and connects to the first shaft cylinder 203 of the outer frame 2, and then the first shaft cylinder 203 at the right end of the outer frame 2 rotates and connects to the right shaft hole 1021 of the right arm plate 102 of the U-shaped pitch frame 1.

[0045] According to the embodiments of this application, reference Figures 5 to 7 , the inner frame drive motor 5 is located on the left arm plate 101, and the outer frame drive motor 6 is located on the right arm plate 102. Through such a design, the double-frame pitch turntable can be kept balanced.

[0046] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 6 A second shaft cylinder 104 coaxial with the left shaft hole 1011 is provided on the outside of the left arm plate 101; the inner frame drive motor 5 is a torque motor, including a first cylindrical casing 501 and having a first output cylinder 502, the first cylindrical casing 501 is fixedly connected to the second shaft cylinder 104, and the first output cylinder 502 is fixedly connected to the left shaft cylinder 302.

[0047] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 7 A third shaft cylinder 105 having a coaxial axis with the right shaft hole 1021 is provided on the outside of the right arm plate 102; the outer frame drive motor 6 is a torque motor, including a second cylindrical casing 601 and having a second output cylinder 602, the second cylindrical casing 601 is fixedly connected to the third shaft cylinder 105, and the second output cylinder 602 is fixedly connected to the right shaft cylinder 303.

[0048] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 7 The encoder 11 includes an encoder rotor 111 and an encoder stator 112 . The encoder stator 112 is fixedly mounted on the left arm plate 101 . The encoder rotor 111 is fixedly connected to the left shaft cylinder 302 .

[0049] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 7 , a fan gear 12 is fixedly connected to the right shaft cylinder 303; the dual-frame photoelectric pitch turntable also includes a gear dial potentiometer 13 fixedly connected to the right arm plate 102; the output shaft of the gear dial potentiometer 13 is connected to a gear dial, and the fan gear 12 is engaged with the gear dial; the gear dial potentiometer 13 is electrically connected to the controller and the outer frame drive motor 6 respectively, and is used to monitor the second angular displacement between the inner frame 3 and the outer frame 2; the controller is used to control the inner frame drive motor 5 and the outer frame drive motor 6 according to the second angular displacement.

[0050] Through this design, when the optical-mechanical assembly 4 mounted on the inner frame 3 needs to be rotated to a certain position according to external requirements, the gear dial potentiometer 13 can sense the change of the second angular displacement. If the numerical change is less than 0.1 degrees, it is considered to be in the stable aiming stage. If the numerical change is greater than 0.1 degrees, the controller controls the inner frame drive motor 5 and the outer frame drive motor 6 to rotate, so that the optical-mechanical assembly 4 rotates to the required position.

[0051] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 7 In order to prevent the connecting wire from interfering with the rotation of the outer frame 2 and the inner frame 3, channels for the connecting wire to pass through are provided in the left arm plate 101, the right arm plate 102, and the bottom arm plate 103.

[0052] According to the embodiments of this application, reference Figure 2 、 Figure 5 and Figure 7 The outer frame 2 includes a hollow cuboid without a cover, and a cover body 204; the U-shaped pitch frame 1 also includes a left end cover 106 for closing the second shaft cylinder 104, and a right end cover 107 for closing the third shaft cylinder 105.

[0053] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0054] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0055] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A double-frame optoelectronic pitch turntable, characterized in that: include: A U-shaped pitch frame (1), the U-shaped pitch frame (1) comprising a left arm plate (101) and a right arm plate (102) parallel to each other, and a bottom arm plate (103) connecting the left arm plate (101) and the right arm plate (102), the outer side of the bottom arm plate (103) being used for connecting the rotation output shaft of the azimuth turntable (14); the left arm plate (101) having a left shaft hole (1011), the right arm plate (102) having a right shaft hole (1021), the central axis of the left shaft hole (1011) and the central axis of the right shaft hole (1021) being collinear; The outer frame (2) comprises a left side wall (201) and a right side wall (202), wherein the left side wall (201) has a first through hole (2011), the right side wall (202) has a second through hole (2021), and the right side wall (202) is connected to a first shaft cylinder (203) having a coaxial axis with the second through hole (2021); An inner frame (3) comprises a mounting plate (301), a left shaft cylinder (302) fixedly connected to the left end of the mounting plate (301), and a right shaft cylinder (303) fixedly connected to the right end of the mounting plate (301), wherein the left shaft cylinder (302) sequentially passes through the left shaft hole (1011) and the first through hole (2011) and is rotatably connected to the left side wall (201) and the left arm plate (101), respectively; the right shaft cylinder (303) passes through the second through hole (2021) and passes into the first shaft cylinder (203), and is rotatably connected to the second through hole (2021) and the first shaft cylinder (203), respectively; and the mounting plate (301) is used for mounting an optical-mechanical assembly (4); an inner frame driving motor (5) for driving the inner frame (3) to rotate; an outer frame driving motor (6) for driving the outer frame (2) to rotate; and a controller and an encoder (11); The encoder (11) is electrically connected to the controller, the inner frame drive motor (5) and the outer frame drive motor (6) respectively, and is used to monitor the first angular displacement between the inner frame (3) and the U-shaped pitch frame (1); The controller is used for controlling the inner frame drive motor (5) and the outer frame drive motor (6) according to the first angular displacement.

2. The dual-frame optoelectronic pitch turntable according to claim 1, characterized in that: A first bearing (7) is provided in the first through hole (2011); a second bearing (8) is provided in the left shaft hole (1011); The left shaft cylinder (302) passes through the first bearing (7) and the second bearing (8) in sequence, and cooperates with the inner ring of the first bearing (7) and the inner ring of the second bearing (8).

3. The dual-frame optoelectronic pitch turntable according to claim 2, characterized in that: A third bearing (9) is provided in the second through hole (2021), and the right shaft cylinder (303) passes through the third bearing (9) and cooperates with the inner ring of the third bearing (9); The right shaft hole (1021) is provided with a fourth bearing (10), and the first shaft cylinder (203) passes through the fourth bearing (10) and cooperates with the inner ring of the fourth bearing (10).

4. The dual-frame optoelectronic pitch turntable according to claim 1, characterized in that: The inner frame drive motor (5) is located on the left arm plate (101), and the outer frame drive motor (6) is located on the right arm plate (102).

5. The dual-frame optoelectronic pitch turntable according to claim 4, characterized in that: A second shaft cylinder (104) having a co-central axis with the left shaft hole (1011) is provided on the outer side of the left arm plate (101); The inner frame drive motor (5) is a torque motor, comprising a first cylindrical housing (501) and a first output cylinder (502), wherein the first cylindrical housing (501) is fixedly connected to the second shaft cylinder (104), and the first output cylinder (502) is fixedly connected to the left shaft cylinder (302); A third shaft cylinder (105) having a co-central axis with the right shaft hole (1021) is provided on the outer side of the right arm plate (102); The outer frame drive motor (6) is a torque motor, comprising a second cylindrical housing (601) and having a second output cylinder (602), wherein the second cylindrical housing (601) is fixedly connected to the third shaft cylinder (105), and the second output cylinder (602) is fixedly connected to the right shaft cylinder (303).

6. The dual-frame optoelectronic pitch turntable according to claim 1, characterized in that: The encoder (11) comprises an encoder rotor (111) and an encoder stator (112), wherein the encoder stator (112) is fixedly mounted on the left arm plate (101), and the encoder rotor (111) is fixedly connected to the left shaft cylinder (302).

7. The dual-frame optoelectronic pitch turntable according to claim 1, characterized in that: The right shaft cylinder (303) is fixedly connected with a fan gear (12); The dual-frame photoelectric tilt turntable further comprises a gear dial potentiometer (13) fixedly connected to the right side wall (202); an output shaft of the gear dial potentiometer (13) is connected to a gear dial, and the fan gear (12) is engaged with the gear dial; the gear dial potentiometer (13) is electrically connected to the controller and the outer frame drive motor (6) respectively, and is used to monitor the second angular displacement between the inner frame (3) and the outer frame (2); The controller is used for controlling the inner frame drive motor (5) and the outer frame drive motor (6) according to the second angular displacement.

8. The dual-frame optoelectronic pitch turntable according to claim 1, characterized in that: The left arm plate (101), the right arm plate (102), and the bottom arm plate (103) are provided with channels for the connecting wires to pass through.

9. The dual-frame optoelectronic pitch turntable according to claim 5, characterized in that: The outer frame (2) comprises a hollow cuboid without a cover, and a cover (204); The U-shaped pitch frame (1) further comprises a left end cover (106) for closing the second shaft cylinder (104), and a right end cover (107) for closing the third shaft cylinder (105).

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