Photoelectric turntable counterweight adjustment device and adjustment method

Abstract

The photoelectric turntable counterweight adjustment device and its adjustment method relate to the technical field of photoelectric turntables. It is used to solve the problem that the traditional photoelectric turntable counterweight method mainly relies on manual experience to add counterweight blocks, but it will cause problems such as center of gravity offset. In order to compensate for the error, redundant weight is added, which leads to a direct conflict with the demand for lightweight, thereby affecting the performance of the photoelectric turntable. The device includes a symmetrical pressure sensor module for real-time monitoring of the pressure data of each point on the turntable base, a movable weight module for adjusting the X-axis and Y-axis weight positions according to the pressure data until the pressure sensor values ​​at the two end positions are equal, a control module for calculating the X-axis and Y-axis torques according to the pressure data and the torque to be compensated according to the weight position, and a counterweight modeling module for completing the printing of the counterweight blocks based on the torque to be compensated as input. The present invention is particularly suitable for airborne pod application scenarios that require strict weight control.

Description

Technical Field

[0001] The present invention relates to the technical field of photoelectric turntables, and in particular to a photoelectric turntable counterweight adjustment device and an adjustment method thereof. Background Art

[0002] The optoelectronic turntable is a precision device widely used in optoelectronic tracking, measurement, and positioning. Its core function is to achieve precise angle adjustment and positioning through a servo system. In the design of an optoelectronic turntable, reasonable counterweight is crucial to ensuring its stable operation, because it can effectively balance the torque, thereby reducing the motor load, improving the turntable's dynamic response speed and positioning accuracy; it can also significantly suppress mechanical vibration and noise, avoid image blur or positioning errors; and optimize the system's moment of inertia matching, laying the foundation for the servo control system to maximize its performance potential. Especially in the application scenario of airborne pods, lightweight design is a key requirement, the purpose of which is not to affect the aircraft's load capacity, flight time, and maneuverability. Therefore, reasonable counterweight is crucial.

[0003] Conventional methods for counterweighting optoelectronic turntables rely primarily on manual experience to add counterweights, which often leads to problems such as center of gravity offset. To compensate for these errors, additional redundant weight must be added. Furthermore, the current modular configuration inevitably adds redundant mass, which conflicts with the need for lightweighting and ultimately impacts the overall performance of the optoelectronic turntable.

[0004] Therefore, it is urgent to propose an innovative optoelectronic turntable counterweight device and its adjustment method, so as to complete the optoelectronic turntable counterweight adjustment while maximizing the lightweight design requirements. Summary of the Invention

[0005] The present invention uses the pressure sensor display and the movement of the X-axis and Y-axis weights to make the turntable center and the center of gravity coincide, that is, the turntable center and the center of gravity are in a balanced state. At this time, the couple formed by the weight counterweight is the couple value of the turntable counterweight. Finally, the couple value is used as input to achieve the optimal solution for minimum counterweight through finite element thinking and 3D printing technology. The solution to the traditional photoelectric turntable counterweight method mainly relies on manual experience to add counterweight blocks, but it will cause problems such as center of gravity offset. In order to compensate for the error, additional redundant weight is added, which directly conflicts with the demand for lightweight, thereby affecting the performance of the photoelectric turntable.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a photoelectric turntable counterweight adjustment device, the device comprising a symmetrical pressure sensor module, a movable weight module, a counterweight block modeling module, and a control module;

[0008] The symmetrical pressure sensor module includes four pressure sensors for real-time monitoring of the pressure data at both ends of the X-axis and Y-axis of the turntable base and sending them to the control module;

[0009] The control module is used to construct the torque equations of the turntable's X-axis and Y-axis based on the monitored pressure data and the distance between the pressure sensor and the center of the turntable, so as to control the movable weight module to move the weight positions of the X-axis and Y-axis until the pressure sensor values ​​at the two ends of the turntable's X-axis and Y-axis are equal. The control module is also used to construct the balancing equations of the X-axis and Y-axis based on the moved weight data, so as to obtain the required compensation torque;

[0010] The counterweight modeling module is used to output printing parameters through an optimization algorithm based on the required compensation torque as input to complete the printing of the counterweight.

[0011] Furthermore, in a preferred embodiment, the above-mentioned optimization algorithm includes a mass-volume relationship function, a boundary function, a volume integral function and an objective function;

[0012] The mass-volume relationship function is used to calculate the volume parameters of the counterweight according to the weight data;

[0013] The boundary function is used to describe the distribution of the counterweight in space;

[0014] The volume integral function is used to satisfy couple equilibrium conditions and geometric constraints;

[0015] The objective function is to minimize the sum of the masses of all counterweights.

[0016] Furthermore, in a preferred embodiment, the above-mentioned geometric constraints are used to ensure that the mass of the counterweight block is within the range of lightweight design requirements allowed by the optoelectronic turntable.

[0017] Furthermore, in a preferred embodiment, a weight compensation equation is embedded in the control module, and balancing equations for the X-axis and Y-axis are constructed based on the weight compensation equation and the moved weight data.

[0018] Furthermore, in a preferred embodiment, the above-mentioned counterweight modeling module does not need to preset the counterweight shape.

[0019] Furthermore, in a preferred embodiment, the control module includes an operable display screen for supporting manual input of constraint conditions and visually displaying the results.

[0020] In a second aspect, the present invention further provides a method for adjusting the counterweight of an optoelectronic turntable. The method is implemented based on any one of the above-mentioned devices for adjusting the counterweight of an optoelectronic turntable. The method comprises the following steps:

[0021] Step S1: Obtain the pressure values ​​fed back by each pressure sensor placed on the turntable base and the distance between each pressure sensor and the center of the turntable, and calculate the torque of the X-axis and Y-axis;

[0022] Step S2: By moving the weight positions of the X-axis and Y-axis, the pressure sensor values ​​at both ends of the turntable X-axis and Y-axis are made equal;

[0023] Step S3: Constructing the balancing equations of the X-axis and Y-axis according to the weight data to obtain the required compensation torque;

[0024] Step S4: According to the moment of force to be compensated, the minimum value of the counterweight is solved by establishing boundary conditions and an optimization algorithm, thereby obtaining the mass of the counterweight in different directions and the distance from the center;

[0025] Step S5: Printing the counterweight according to the parameters obtained in step S4.

[0026] Furthermore, in a preferred embodiment, the weight data includes the weight mass and the vector distance between the weight and the center.

[0027] Furthermore, there is a preferred embodiment in which four symmetrically distributed pressure sensors are arranged on the turntable to complete the calculation of the torque of the X-axis and the Y-axis.

[0028] Furthermore, in another preferred embodiment, the torque equation of the X-axis is:

[0029]

[0030] The moment equation of the Y-axis is:

[0031]

[0032] in, represent A couple in a plane, represent A couple in a plane, and Represents the feedback value of the pressure sensors at both ends of the Y axis, and represents the feedback value of the pressure sensors at both ends of the X-axis, Δx represents the distance between the weight on the X-axis and the center of the turntable, Δy represents the distance between the weight on the Y-axis and the center of the turntable, M is the mass of the weight, and g represents the acceleration of gravity. Represents the distance between the pressure sensors at both ends of the X-axis, Represents the distance between the pressure sensors at both ends of the Y-axis.

[0033] The beneficial effects of the present invention are:

[0034] 1. The present invention realizes efficient and accurate weight adjustment of the photoelectric turntable through a series of precise calculations and optimization algorithms, thereby effectively improving the stability and performance of the equipment.

[0035] 2. The present invention proposes a photoelectric turntable counterweight adjustment device that realizes high-sensitivity real-time monitoring of static load distribution and couple imbalance through a symmetrical pressure sensor module. The movable weight module enables the weight to be quickly, steplessly, and accurately moved to any plane coordinate point required for calculation (high-precision positioning can be achieved). The optimization algorithm integrated in the counterweight block modeling module can also use the couple balance calculation results and spatial constraint information to fully automatically calculate the counterweight block geometry solution that meets all mechanical balance requirements (including couple moment balance) and has the smallest overall mass. The control module also realizes full-process automated closed-loop control of real-time sensor data collection, execution of pre-leveling actions, driving weight movement, calculating couple moments, running optimization algorithms, and generating counterweight model instructions.

[0036] 3. The photoelectric turntable counterweight adjustment method proposed in the present invention realizes efficient and precise counterweight adjustment of the photoelectric turntable without the need to pre-assume the specific shape of the counterweight block. It can adapt to various complex practical application situations and achieve optimal stability and performance.

[0037] The present invention is applicable to the counterweight adjustment of an optoelectronic turntable, and is particularly applicable to airborne pod application scenarios requiring strict weight control. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a schematic diagram of the arrangement of the pressure sensor according to the present invention;

[0040] Figure 2 The figure is a flow chart of the photoelectric turntable counterweight adjustment method proposed by the present invention.

[0041] Among them, 1 represents the turntable, 2 represents the pressure sensor, and 3 represents the weight. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details that obscure the description of the present application.

[0043] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that those skilled in the art may make various changes and improvements without departing from the scope of the present invention, and these are all within the scope of protection of the present invention.

[0044] Implementation Method 1: Combination Figure 1 This embodiment describes a device for adjusting the counterweight of a photoelectric turntable. By means of the indication of the pressure sensor and the movement of the weights on the X-axis and Y-axis, the center of the turntable and the center of gravity are brought into coincidence, that is, the center of the turntable and the center of gravity are in a balanced state. At this time, the couple formed by the counterweight of the weight is the couple value of the turntable counterweight. Finally, the couple value is used as input to achieve the optimal solution for the minimum counterweight through the concept of finite element and 3D printing technology. This solves the problem that the traditional method of counterweighting a photoelectric turntable mainly relies on manual experience to add counterweight blocks, which will lead to problems such as center of gravity offset. In order to compensate for the error, additional redundant weight is added, which directly conflicts with the demand for lightweighting, thereby affecting the performance of the photoelectric turntable.

[0045] The turntable counterweight adjustment device includes a symmetrical pressure sensor module, a movable weight module, a counterweight block modeling module and a control module;

[0046] The symmetrical pressure sensor module includes four pressure sensors for real-time monitoring of the pressure data at both ends of the X-axis and Y-axis of the turntable base and sending them to the control module;

[0047] The control module is used to construct the torque equations of the turntable's X-axis and Y-axis based on the monitored pressure data and the distance between the pressure sensor and the center of the turntable, so as to control the movable weight module to move the weight positions of the X-axis and Y-axis until the pressure sensor values ​​at the two ends of the turntable's X-axis and Y-axis are equal. The control module is also used to construct the balancing equations of the X-axis and Y-axis based on the moved weight data, so as to obtain the required compensation torque;

[0048] The counterweight modeling module is used to output printing parameters through an optimization algorithm based on the required compensation torque as input to complete the printing of the counterweight.

[0049] In practical application, this embodiment Figure 1 As shown, the symmetrical pressure sensor module includes four pressure sensors 2. The four symmetrically distributed pressure sensors 2 are respectively arranged on the base of the turntable 1 for real-time monitoring of the pressure data at both ends of the X-axis and Y-axis of the turntable base, and send them to the control module; the control module is used to construct the torque equations of the X-axis and Y-axis based on the monitored pressure data and the distance between the pressure sensor and the center of the turntable, so as to control the movable weight module to adjust the position of the weights 3 of the X-axis and Y-axis according to the torque, until the values ​​of the pressure sensors at both ends of the X-axis and Y-axis of the turntable are equal; the control module is embedded with the torque calculation formula of the X-axis and Y-axis and the weight compensation equation, so that the torque of the X-axis and Y-axis can be calculated based on the pressure data, and the torque to be compensated can also be calculated based on the weight data. The torque equation of the X-axis is:

[0050]

[0051] The moment equation of the Y-axis is:

[0052]

[0053] in, represent A couple in a plane, represent A couple in a plane, and Represents the feedback value of the pressure sensors at both ends of the Y axis, and represents the feedback value of the pressure sensors at both ends of the X-axis, Δx represents the distance between the weight on the X-axis and the center of the turntable, Δy represents the distance between the weight on the Y-axis and the center of the turntable, M is the mass of the weight, and g represents the acceleration of gravity. Represents the distance between the pressure sensors at both ends of the X-axis, Represents the distance between the pressure sensors at both ends of the Y-axis.

[0054] The weight compensation equation is: The sum of the product of the mass point in the X-axis and Y-axis directions of the turntable and the distance to the center is the mass of the weight ( ) and the distance of the weight mass from the center ( ).

[0055] Expressed as:

[0056]

[0057]

[0058] The control module then constructs the X- and Y-axis balancing equations based on the weight data (including weight mass and position data) to obtain the required compensation torque. Finally, the counterweight block modeling module (no preset shape required) uses the required compensation torque as input and outputs printing parameters through an optimization algorithm to complete the counterweight block printing. The counterweight block modeling module embeds a mass-volume relationship function, a boundary function, a volume integral function, and an objective function. The mass-volume relationship function is used to calculate the counterweight block volume parameters based on the weight data. The mass-volume relationship function is: ,in Indicates volume The total mass contained in is the material density, Represents a volume element. Boundary function is used to describe the distribution of counterweights in space; Boundary function: Introducing , Used to describe the distribution of counterweights in space, When , it indicates the position of the counterweight, otherwise it is 0. The volume integral function is used to satisfy the couple equilibrium condition and geometric constraints; volume integral: ,in, is the volume element , represents an infinitely small unit of space, It is defined at a point in space The physical quantity density function on the gyro is used to satisfy the couple equilibrium conditions and geometric constraints (for example, the counterweight must be within the allowable range of the optoelectronic turntable). The objective function is used to minimize the sum of the masses of all counterweights to satisfy the couple equilibrium conditions and geometric constraints.

[0059] Furthermore, the control module also includes an operable display screen for supporting manual input of constraint conditions and visually displaying the results.

[0060] Furthermore, the specific structure of the movable weight module includes:

[0061] The bottom rectangular base plate is used to fix to the turntable counterweight area;

[0062] A pair of parallel Y-axis guide rails are fixed to the base plate, and at least one weight slide rides on the Y-axis guide rails and can be pushed and pulled along the Y-axis by the lead screw;

[0063] A pair of parallel X-axis guide rails (perpendicular to the Y-axis) are fixed on top of the Y-axis slide, and at least one weight slide rides on the X-axis guide rails and can be pushed and pulled along the X-axis by another lead screw;

[0064] One or more leveling weights may also be provided that are securely mounted on the center of the weight slide;

[0065] A motor and its transmission system (screw / synchronous pulley), as well as a precise position detection sensor (such as a grating scale reading head) can also be provided on the X-axis and Y-axis respectively;

[0066] It also includes an electronic control unit, which is responsible for receiving instructions, driving the motor, reading sensors, and controlling the locking device;

[0067] The structure described in this embodiment provides a stable, precise, and controllable weight displacement capability in the XY two-dimensional plane.

[0068] In summary, the photoelectric turntable counterweight adjustment device proposed in this embodiment realizes high-sensitivity real-time monitoring of static load distribution and couple imbalance through a symmetrical pressure sensor module. The movable weight module enables the weight to be quickly, steplessly, and accurately moved to any plane coordinate point required for calculation (high-precision positioning can be achieved). The high-precision weight position coordinates (X, Y) provided by the movable weight module are the key input for couple balance calculations. The control module uses these precise coordinates to calculate the precise magnitude and direction / position requirements required to compensate for the couple torque, providing a solid physical foundation for the final optimization of the counterweight and avoiding the uncertainty of the traditional trial-and-error method. The optimization algorithm integrated into the counterweight modeling module leverages couple balance calculations and spatial constraints to fully automatically calculate a counterweight geometry that meets all mechanical balance requirements (including couple moment balance) while minimizing overall mass. The counterweight modeling module eliminates the need for pre-defined counterweight shapes; the optimization algorithm directly generates a 3D topological model of any complexity, which is then converted into a precise 3D model file by the modeling module. This allows the final counterweight to perfectly fit the extremely complex installation space constraints surrounding the turntable, avoiding interference areas and achieving spatial adaptability unattainable with traditional prefabricated standard components. Finally, the control module implements automated closed-loop control of the entire process, including real-time sensor data acquisition, pre-leveling, weight movement, moment calculation, optimization algorithm execution, and counterweight model generation. This significantly shortens the overall leveling cycle while ensuring repeatability and high precision. The control module's visual interface clearly displays raw sensor data, weight position, calculated moments, optimization results (such as a preview of the counterweight shape, mass, and center of gravity), and post-leveling pressure distribution, significantly enhancing the operator's understanding and analysis of system status.

[0069] Implementation Method 2: Combination Figure 2 This embodiment describes a method for adjusting the weight of a photoelectric turntable. The method is based on a device for adjusting the weight of a photoelectric turntable proposed in the above embodiment. The process is as follows: Figure 2 As shown, the adjustment method includes the following steps:

[0070] Step S1: Initial measurement: Obtain the pressure values ​​F1-F4 fed back by the sensors placed on the turntable base and the distance between each pressure sensor and the center of the turntable, and calculate the moment of force along the X and Y axes, i.e., the sensor center coincides with the centroid of the turntable;

[0071] Step S2: X / Y axis pre-leveling: Based on the torques of the X and Y axes, the X and Y axis weights are moved to make the pressure sensor values ​​at both ends equal, thereby achieving torque balance. That is, the X and Y axis directions of the turntable center are balanced, and the turntable center and the center of gravity coincide with each other.

[0072] The two steps described above, through initial measurement (obtaining F1-F4) and X / Y axis pre-leveling (moving weights to equalize pressure at both ends), significantly improve initial counterweight accuracy and efficiency, quickly eliminating foundational imbalance deviations. Specifically, the initial measurement captures pressure data from the actual load distribution, providing an objective basis for leveling. X / Y axis pre-leveling proactively symmetrizes key pressure sensor readings by physically moving weights, quickly and directly correcting major static imbalance issues during initial placement and significantly reducing the burden of subsequent high-precision leveling.

[0073] Step S3: Couple balance calculation: Based on the weight data, construct the balancing equations of the X-axis and Y-axis to obtain the required compensation couple moment;

[0074] This step uses a couple balance calculation (calculating the required couple moment based on the weight position) to accurately calculate and eliminate imbalances caused by couple moments, eliminating repeated trial and error adjustments. The specific effect is that X / Y axis pre-leveling only achieves pressure symmetry, but couple imbalances may still exist (e.g., equal weight on each side but different lever arms). This step uses the established mechanical model and weight position information to accurately calculate the magnitude and direction / position of the required couple moment compensation, providing a mathematical basis for generating the optimal counterweight, eliminating the traditional reliance on experience and trial and error.

[0075] Step S4: Counterweight optimization: According to the required compensation torque, the minimum value of the counterweight is solved by establishing boundary conditions and an optimization algorithm, thereby obtaining the mass of the counterweight in different directions and the distance from the center;

[0076] This step achieves a globally optimal counterweight solution (minimizing mass) through counterweight optimization (using an optimization algorithm to determine the minimum counterweight parameters), minimizing system burden. The key benefit is that the optimization algorithm, at the heart of this step, uses the compensation requirements calculated from couple balance as constraints and proactively determines the minimum counterweight parameters (including shape, size, and mass distribution). This ensures that the added mass is the theoretical minimum while maintaining mechanical balance, effectively reducing the turntable system's moment of inertia and improving dynamic performance.

[0077] Furthermore, when optimizing the counterweight, any complex shape can be considered, breaking through the traditional shape limitations of counterweight blocks and adapting to any complex spatial constraints. A specific effect is that while traditional counterweights are typically standard squares or cylinders, the optimization process in this step does not pre-define the shape of the counterweight block, but can instead generate any complex three-dimensional geometric model. This "shape freedom" allows the system to perfectly adapt to the complex installation space around the turntable, avoiding structural components, cables, sensors, and other factors, achieving unprecedented adaptability.

[0078] Step S5: 3D printing: Print the counterweight according to the parameters obtained in the above step S4.

[0079] This step uses 3D printing (outputting the counterweight block model and quickly manufacturing it on site) to achieve rapid customized on-site production of the counterweight block, significantly shortening the leveling cycle. Specifically, it is reflected in:

[0080] The optimized, complex-shaped counterweight model was rapidly manufactured directly at the turntable commissioning site using 3D printing technology. This eliminated the long cycle of traditional custom machined parts (design, outsourcing, transportation, and waiting), enabling "on-demand manufacturing and immediate use" of the counterweight. This significantly shortened the entire leveling process and resolved the efficiency bottlenecks caused by remote coordination and waiting.

[0081] In summary, the effect of the photoelectric turntable counterweight adjustment method proposed in this embodiment is not achieved by a single step, but is the ultimate embodiment of the coordinated work of all steps. Initial measurement and pre-leveling provide a good starting point; couple calculation provides precise physical requirements; optimization algorithm solves the best quality shape solution under complex constraints; 3D printing quickly implements the solution. This closed-loop, digital, and automated process ultimately makes the entire counterweight adjustment process both efficient (fast) and accurate (good results), solving the problem that the traditional method mainly relies on manual experience to add counterweight blocks, but will cause problems such as center of gravity offset. In order to compensate for the error, additional redundant weight is added, which directly conflicts with the lightweight requirement, thereby affecting the performance of the photoelectric turntable. The photoelectric turntable counterweight adjustment method proposed in this embodiment not only saves time and effort and has high precision, but also ensures the excellent lightweight requirements, static stability and dynamic performance of the photoelectric turntable.

[0082] Implementation Method 3: This implementation method provides a specific example, which is used to explain the above implementation method in detail. Specifically, the example is as follows:

[0083] This embodiment is described using the X-axis as an example;

[0084] Step 1: Establish the eccentric couple equation of the X-axis, expressed as:

[0085]

[0086] in, for A couple in a plane, and are the vectors of the pressure sensors at both ends of the X-axis, is the distance between the pressure sensor and the center of the turntable;

[0087] Step 2: Move the weights to balance, expressed as:

[0088]

[0089] in, is the mass of the weight, is the vector distance between the weight and the center of the turntable. (At this time, the distance between the two sensors and the center is equal)

[0090] Step 3: Establish the X-axis balancing equation:

[0091]

[0092] Similarly, the balancing equation for the Y axis is:

[0093]

[0094] in, is the mass of the counterweight on the X axis, is the distance of the counterweight on the X axis, is the mass of the counterweight on the Y axis, The distance of the counterweight block on the Y axis. Different counterweight blocks need to be designed in different directions.

[0095] Step 4: Establish boundary conditions (optional location and mass of counterweight)

[0096] and

[0097] Step 5:

[0098]

[0099] Seek The minimum value of 、 and .

[0100] Step 6: Based on the above equation, the finite element method and 3D printing technology are used to decompose the counterweight block into multiple minimum mass points, and the number and optimal distribution positions of the mass points are calculated to complete the counterweight adjustment of the optoelectronic turntable.

[0101] In summary, the photoelectric turntable counterweight adjustment method proposed in the present invention realizes efficient and precise counterweight adjustment of the photoelectric turntable without the need to pre-assume the specific shape of the counterweight block. It can adapt to various complex practical application situations and achieve optimal stability and performance.

[0102] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of the claims.

Claims

1. Photoelectric turntable counterweight adjustment device, characterized in that: It includes a symmetrical pressure sensor module, a movable weight module, a counterweight modeling module and a control module; The symmetrical pressure sensor module includes four pressure sensors, which are used to monitor the pressure data at both ends of the X-axis and Y-axis of the turntable base in real time and send them to the control module; The control module is used to construct the torque equations of the turntable's X-axis and Y-axis based on the monitored pressure data and the distance between the pressure sensor and the center of the turntable, so as to control the movable weight module to move the weight positions of the X-axis and Y-axis until the pressure sensor values ​​at the two ends of the turntable's X-axis and Y-axis are equal. The control module is also used to construct the balancing equations of the X-axis and Y-axis based on the moved weight data, so as to obtain the required compensation torque; The counterweight modeling module is used to output printing parameters based on the required compensation torque as input through the optimization algorithm to complete the printing of the counterweight.

2. The photoelectric turntable counterweight adjustment device according to claim 1, characterized in that: The optimization algorithm includes mass-volume relationship function, boundary function, volume integral function and objective function; The mass and volume relationship function is used to calculate the volume parameters of the counterweight block based on the weight data; The boundary function is used to describe the distribution of the counterweight in space; The volume integral function is used to satisfy couple equilibrium conditions and geometric constraints; The objective function is to minimize the sum of the masses of all the counterweights.

3. The photoelectric turntable counterweight adjustment device according to claim 2, characterized in that: Geometric constraints are used to ensure that the mass of the counterweight is within the lightweight design requirements allowed by the optoelectronic turntable.

4. The photoelectric turntable counterweight adjustment device according to claim 1, characterized in that: A weight compensation equation is embedded in the control module, and the balancing equations for the X-axis and Y-axis are constructed based on the weight compensation equation and the moved weight data.

5. The photoelectric turntable counterweight adjustment device according to claim 1, characterized in that: The counterweight modeling module does not require a preset counterweight shape.

6. The photoelectric turntable counterweight adjustment device according to claim 1, characterized in that: The control module includes an operable display screen to support manual input of constraints and visually display the results.

7. A method for adjusting the counterweight of a photoelectric turntable, characterized in that: The adjustment method is implemented based on the photoelectric turntable counterweight adjustment device according to any one of claims 1 to 6, and the method is: S1: Obtain the pressure values ​​fed back by each pressure sensor placed on the turntable base and the distance between each pressure sensor and the center of the turntable, and calculate the torque of the X-axis and Y-axis; S2: By moving the weight positions of the X-axis and Y-axis, the pressure sensor values ​​at both ends of the turntable X-axis and Y-axis are equal; S3: Based on the weight data, construct the balancing equations of the X-axis and Y-axis to obtain the required compensation torque; S4: Based on the moment of force to be compensated, the minimum value of the counterweight is solved by establishing boundary conditions and an optimization algorithm, thereby obtaining the mass of the counterweight in different directions and the distance from the center; S5: Printing the counterweight according to the parameters obtained in step S4.

8. The method for adjusting the counterweight of a photoelectric turntable according to claim 7, wherein: The weight data includes the weight mass and the vector distance between the weight and the center.

9. The method for adjusting the counterweight of a photoelectric turntable according to claim 7, wherein: By arranging four symmetrically distributed pressure sensors on the turntable, the torque calculation of the X-axis and Y-axis is completed.

10. The method for adjusting the counterweight of a photoelectric turntable according to claim 9, wherein: The torque equation of the X-axis is: The moment equation of the Y-axis is: in, represent A couple in a plane, represent A couple in a plane, and Represents the feedback value of the pressure sensors at both ends of the Y axis, and represents the feedback value of the pressure sensors at both ends of the X-axis, Δx represents the distance between the weight on the X-axis and the center of the turntable, Δy represents the distance between the weight on the Y-axis and the center of the turntable, M is the mass of the weight, and g represents the acceleration of gravity. Represents the distance between the pressure sensors at both ends of the X-axis, Represents the distance between the pressure sensors at both ends of the Y-axis.

Images