High-precision attitude stabilization platform and use method thereof

Abstract

The invention discloses a high-precision posture stabilized platform and a using method thereof. The stabilized platform comprises a supporting mechanism, an orientation rotating mechanism and a transverse rolling rotating mechanism. The supporting mechanism is fixed on the motion carrier; the azimuth rotating mechanism is arranged on the supporting mechanism and can rotate around an azimuth axis; the transverse rolling rotating mechanism is arranged on the direction rotating mechanism and can rotate around a transverse rolling shaft; the two pitching rotating mechanisms are symmetrically arranged on the transverse rolling rotating mechanism and are both connected with equipment to be stabilized; each pitching rotating mechanism can rotate around a pitching shaft; the azimuth axis, the transverse rolling axis and the pitch axis are perpendicular to one another in pairs. The supporting mechanism comprises an adapter plate, a platform base and a plurality of vibration isolators. The adapter plate is fixed on a motion carrier, and the platform base is used for supporting the azimuth rotating mechanism; the multiple vibration isolators are evenly fixed to the adapter plate, and each vibration isolator is located between the adapter plate and the platform base and isolates and filters motion interference of a motion carrier for equipment to be stabilized.

Description

TECHNICAL FIELD

[0001] The application relates to a high-precision attitude stabilizing platform and a use method thereof. BACKGROUND

[0002] Optical measuring devices and other equipment are usually arranged on a moving carrier to collect external information of the moving carrier. However, the moving carrier is easily disturbed by the external environment and thus shakes and swings, so that the equipment arranged on the moving carrier is in an unstable state, and further, the equipment cannot collect data normally. For example, a ship shakes in a marine environment, and the ship body cannot keep balance due to the influence of the environment and the performance of the ship body, so that the equipment arranged on the ship body is in an unstable state and cannot work normally. Therefore, a high-precision attitude stabilizing platform is needed to be applied to a moving carrier such as a ship or a vehicle to isolate the disturbance of the moving carrier to the equipment. SUMMARY

[0003] The application aims to provide a high-precision attitude stabilizing platform and a use method thereof, which can isolate the disturbance of a moving carrier to a to-be-stabilized equipment and realize normal work of the to-be-stabilized equipment.

[0004] In order to achieve the above-mentioned purpose, the application provides a high-precision attitude stabilizing platform for isolating the disturbance of a moving carrier to a to-be-stabilized equipment, which comprises:

[0005] A support mechanism is fixed on the moving carrier.

[0006] An azimuth rotating mechanism is arranged on the support mechanism, and the azimuth rotating mechanism rotates around an azimuth axis relative to the support mechanism.

[0007] A roll rotating mechanism is arranged on the azimuth rotating mechanism, and the roll rotating mechanism rotates around a roll axis relative to the azimuth rotating mechanism.

[0008] Two pitch rotating mechanisms are symmetrically arranged on the roll rotating mechanism, and each of the two pitch rotating mechanisms is connected with the to-be-stabilized equipment; each pitch rotating mechanism rotates around a pitch axis relative to the roll rotating mechanism; and the azimuth axis, the roll axis and the pitch axis are perpendicular to each other.

[0009] The support mechanism comprises an adapter plate, a platform base and a plurality of vibration isolators; the adapter plate is fixed on the moving carrier, the platform base is used for supporting the azimuth rotating mechanism, and the plurality of vibration isolators are uniformly fixed on the adapter plate and located between the adapter plate and the platform base to isolate and filter the motion disturbance of the moving carrier for the to-be-stabilized equipment.

[0010] Optionally, the support mechanism further comprises:

[0011] A plurality of pads are evenly arranged on the adapter plate, one end of each pad contacts the adapter plate, and the other end contacts the platform base to support the platform base; and the height of the pad is higher than the height of the vibration isolator, so as to separate the platform base from the vibration isolator.

[0012] A plurality of fixing members, the bottom of each fixing member is detachably connected to the platform base, the pad and the adapter plate in sequence.

[0013] Optionally, each pad comprises a plurality of vertically stacked pad blocks, and each pad block is provided with coaxial fixing holes on two symmetrical sides, so that the fixing member is connected to the adapter plate by penetrating the two fixing holes vertically to the surface of the pad block provided with the fixing holes.

[0014] Optionally, the azimuth rotation mechanism comprises:

[0015] A support turntable is fixed to the center of the bottom surface of the platform base;

[0016] An outer frame is rotatably connected to the center of the top surface of the support turntable at the center of the bottom surface, so that the outer frame can rotate around the azimuth axis relative to the support turntable;

[0017] A limiting assembly comprises a blocking member and at least one limiting member, the limiting member is fixed to the platform base, the top end of the blocking member is fixed to the outer frame, and the bottom end of the blocking member extends downward, so that the side surface of the blocking member contacts the limiting member;

[0018] A locking member is fixed to the bottom of the outer frame, the bottom end of the locking member is retractable, and the locking member fixes the outer frame and the support turntable;

[0019] An azimuth driving unit is fixed to the support turntable, and the output end of the azimuth driving unit is connected to the outer frame, for controlling the movement of the outer frame relative to the support turntable.

[0020] Optionally, the outer frame is a U-shaped structure, and two ends of the U-shaped structure are symmetrically provided with connecting members, and the two connecting members are respectively connected to the horizontal roll rotation mechanism; the horizontal roll rotation mechanism comprises:

[0021] An inner frame is an annular structure, and two symmetrical side edges of the inner frame are respectively fixed to the two connecting members of the outer frame, so that the inner frame is symmetrical about the line connecting the two connecting members; the line connecting the two connecting members is the horizontal roll axis.

[0022] A horizontal roll driving unit is arranged at at least one of the connecting members, and the horizontal roll driving unit is fixed to the outer frame, and the output end of the horizontal roll driving unit is connected to the inner frame, for controlling the rotational movement of the inner frame relative to the outer frame.

[0023] Optionally, the inner frame is provided with rotation holes symmetrically relative to the connecting lines of the two connecting members; and the two rotation holes are respectively located on two sides of the inner frame which are symmetric to and away from the connecting members;

[0024] Each of the pitch rotation mechanisms comprises:

[0025] A rotating assembly is inserted into the rotation hole, so that the rotating assembly rotates around the pitch axis in the rotation hole;

[0026] An adjusting limiting block is fixed to the inner wall of the inner frame;

[0027] An adjusting ring is sleeved on the rotating assembly, and the adjusting ring is provided with a stopper; after the adjusting ring rotates by a certain angle along with the rotating assembly, the stopper abuts against the adjusting limiting block.

[0028] Optionally, the rotating assembly comprises: an inner rotating shaft, an outer rotating shaft, a connecting sleeve, a fixing sleeve and a pitch driving unit which are coaxially arranged;

[0029] The outer rotating shaft is located in the rotation hole;

[0030] One end of the inner rotating shaft is inserted into the outer rotating shaft, and the inner rotating shaft is movable along the axial direction of the inner rotating shaft in the outer rotating shaft; the other end of the inner rotating shaft is fixed to the side of the device to be stabilized;

[0031] The connecting sleeve comprises: a connecting seat and an adjusting seat; the connecting seat is sleeved on the inner rotating shaft and fixed to the end face of the outer rotating shaft, and the connecting seat is located between the inner rotating shaft and the adjusting ring; the adjusting seat is composed of a plurality of adjusting segments which are fixed to the connecting seat at one end, and the plurality of adjusting segments are wrapped outside the inner rotating shaft;

[0032] The fixing sleeve is sleeved outside the adjusting seat, so that the connecting sleeve is fixedly connected with the inner rotating shaft;

[0033] The pitch driving unit is fixed to the roll rotation mechanism, and the output end of the pitch driving unit is connected with the outer rotating shaft, so as to control the rotation of the rotating assembly relative to the roll rotation mechanism.

[0034] Optionally, the device further comprises a measuring mechanism, wherein the measuring mechanism comprises:

[0035] 2 rotation speed measuring units are respectively arranged on the outer rotating shaft of each rotating assembly and located outside the inner frame; each rotation speed measuring mechanism comprises a base and a first single-axis gyroscope, a second single-axis gyroscope and a third single-axis gyroscope arranged on the base; the base is fixed on the outer rotating shaft and located outside the inner frame; the axis of the first single-axis gyroscope is parallel to the roll axis and used for measuring the rotation speed of the roll rotation mechanism; the axis of the second single-axis gyroscope is coincident with the pitch axis and used for measuring the rotation speed of the pitch rotation mechanism; the axis of the third single-axis gyroscope is parallel to the azimuth axis and used for measuring the rotation speed of the azimuth rotation mechanism.

[0036] The inertial measuring unit is arranged on the platform base and used for measuring the attitude angle of the moving carrier.

[0037] The position measuring unit is arranged on the platform base and used for receiving the satellite signal of the moving carrier and obtaining the positioning information of the moving carrier.

[0038] Optionally, the servo control system is further included.

[0039] The rotation speed measuring unit generates a rotation speed signal comprising the rotation speed of the azimuth rotation mechanism, the rotation speed of the roll rotation mechanism and the rotation speed of the pitch rotation mechanism; and the servo control system is in signal connection with the rotation speed measuring unit and receives the rotation speed signal sent by the rotation speed measuring unit.

[0040] The inertial measuring unit generates an inertial combined signal comprising the attitude angle of the moving carrier; the servo control system is in signal connection with the inertial measuring unit and receives the inertial combined signal sent by the inertial measuring unit.

[0041] The position measuring unit generates a positioning signal of the moving carrier; the servo control system is in signal connection with the position measuring unit and receives the positioning signal sent by the position measuring unit.

[0042] The servo control system generates a control signal for stabilizing the device to be stabilized according to the rotation speed signal, the inertial combined signal and the positioning signal.

[0043] The servo control system is in signal connection with the azimuth driving unit, the roll driving unit and the pitch driving unit respectively and sends the control signal to the azimuth driving unit, the roll driving unit and the pitch driving unit respectively to control the rotation angle and rotation rate of the azimuth rotation mechanism, the roll rotation mechanism and the pitch rotation mechanism.

[0044] In addition, the application further provides a use method of the high-precision attitude stabilizing platform, the fixed part on the platform base is disassembled, then the pad part between the platform base and the adapter plate is disassembled, the platform base is contacted with the vibration isolator, and the platform base is damped through the vibration isolator; the locking part of the azimuth rotating mechanism is opened, the bottom end of the locking part is shortened, and then the outer frame and the support turntable can move relatively;

[0045] The servo control system obtains the inertial combined signal, the rotating speed signal and the positioning signal in real time through the measuring mechanism, and generates a control signal; and then the control signal is sent to the azimuth driving unit, the roll driving unit and the pitch driving unit, so that the device to be stabilized returns to a stable state.

[0046] Compared with the prior art, the technical scheme of the application has at least the following beneficial effects:

[0047] The stabilizing platform provided by the application makes the device to be stabilized not affected by the bumping of the moving carrier through the vibration isolator, and filters and isolates the motion disturbance of the moving carrier; and the rotating angle and rotating speed of the device to be stabilized on the azimuth axis, the roll axis and the pitch axis are controlled through the azimuth rotating mechanism, the roll rotating mechanism and the two pitch rotating mechanisms, so that the device to be stabilized resists the swing of the moving carrier caused by the influence of the external environment, the disturbance of the moving carrier to the device to be stabilized is isolated, and high-precision stable conditions are provided for the device to be stabilized, so that the device to be stabilized can work normally.

[0048] The stabilizing platform provided by the application obtains the position of the stabilizing platform and the deflection of the device to be stabilized after the swing of the moving carrier through the measuring mechanism, and sends the above-mentioned conditions to the servo control system, so that the servo control system generates a control signal to control the azimuth rotating mechanism, the roll rotating mechanism and the two pitch rotating mechanisms to adjust the deflection of the device to be stabilized, and the device to be stabilized can work normally.

[0049] The stabilizing platform provided by the application adopts the structure of a two-frame three-axis turntable, is rotatably connected through the outer frame and the support turntable to realize the rotation of the device to be stabilized around the azimuth axis, is rotatably connected between the inner frame and the outer frame to realize the rotation of the device to be stabilized around the roll axis, and is symmetrically provided with two rotating assemblies on the inner frame to realize the rotation of the device to be stabilized around the pitch axis, and the device to be stabilized can be located at the intersection of the azimuth axis, the roll axis and the pitch axis through the two rotating assemblies. Such a design ensures the rotation of the device to be stabilized around the three perpendicular rotating axes to isolate the disturbance of the moving carrier, and also makes the stabilizing platform have the advantages of small structure size, light weight, large carrying capacity and high stability precision, so as to meet the size and weight requirements of the moving carrier on the stabilizing platform. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0051] Figure 2 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized. Figure 1 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0052] Figure 3 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0053] Figure 4 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0054] Figure 5 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0055] Figure 6 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0056] Figure 7 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0057] Figure 8 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0058] Figure 9 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0059] Figure 10 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0060] Figure 11 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0061] Figure 12 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0062] Figure 13 The high-precision attitude stabilization platform of the present application is installed with the device to be stabilized.

[0063] In the figure, 100 - support mechanism, 200 - azimuth rotation mechanism, 300 - device to be stabilized, 400 - roll rotation mechanism, 500 - rotation speed measurement unit, 600 - inertial measurement unit, 700 - position measurement unit, 800 - pitch rotation mechanism, 900 - limit component;

[0064] 1-adapter plate, 2-vibration isolator, 3-first pad, 4-second pad, 5-platform base, 6-fixing piece, 8-supporting turntable, 9-outer frame, 10-connector, 11-inner frame, 14-optical measurement unit, 17-azimuth limiting piece, 18-signal antenna, 19-antenna mounting seat, 20-crossbeam, 21-crossbeam mounting plate, 22-boss, 23-fixing hole, 24-connection seat, 25-adjusting seat, 26-fixing sleeve, 29-inner rotating shaft, 30-guiding block, 31-outer rotating shaft, 33-adjusting limiting block, 34-adjusting ring, 36-stop block, 38-first blocking rod, 39-second blocking rod, 40-second limiting piece, 42-first limiting piece, 44-locking piece, 45-third single-axis gyro, 47-second single-axis gyro, 48-first single-axis gyro, 49-base. DETAILED DESCRIPTION

[0065] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0066] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0068] The present application provides a high-precision attitude stabilization platform, which adopts a two-frame three-axis turntable structure and is applied to a moving carrier such as a ship and a vehicle, and can isolate the disturbance of the moving carrier on the device to be stabilized due to movement. Figure 1 and Figure 2As shown, the stabilization platform includes: a support mechanism 100, an azimuth rotation mechanism 200, a roll rotation mechanism 400, and two pitch rotation mechanisms 800. The support mechanism 100 is fixed to the motion carrier; the azimuth rotation mechanism 200 is disposed on the support mechanism 100 and can rotate in the horizontal plane relative to the support mechanism 100, that is, around the azimuth axis. The roll rotation mechanism 400 is disposed on the azimuth rotation mechanism 200 and can rotate in the vertical plane relative to the azimuth rotation mechanism 200, that is, around the roll axis. The two pitch rotation mechanisms 800 are symmetrically disposed on the roll rotation mechanism 400 and are both connected to the device to be stabilized 300; each pitch rotation mechanism 800 can rotate in the vertical plane relative to the roll rotation mechanism 400, that is, around the pitch axis. The azimuth axis, roll axis, and pitch axis are perpendicular to each other.

[0069] like Figure 3 As shown, the support mechanism 100 is fixed on a moving carrier such as a ship or a vehicle, and includes an adapter plate 1 and a platform base 5. The adapter plate 1 is fixed on the moving carrier, and the platform base 5 is used to support the azimuth rotation mechanism 200.

[0070] Furthermore, in order to reduce the vibration force caused by the bumping of the moving carrier, Figure 3 As shown, the support mechanism 100 further includes: a plurality of pads, a plurality of fixing members 6, and a plurality of vibration isolators 2. The plurality of vibration isolators 2 are evenly fixed to the adapter plate 1, and each vibration isolator 2 is located between the adapter plate 1 and the platform base 5 to reduce vibration forces. The plurality of pads are evenly placed on the adapter plate 1, with one end of each pad contacting the adapter plate 1 and the other end contacting the platform base 5 to support the platform base 5. The pads are higher than the height of the vibration isolators 2, separating the platform base 5 from the vibration isolators 2. The bottom of each fixing member 6 passes through the platform base 5 and is connected to the adapter plate 1. When the stabilizing platform is not in use, the platform base 5 is separated from the vibration isolators 2 by the support of the pads and fixed to the adapter plate 1 by the fixing members 6. When the stabilizing platform is in use, the fixing members 6 and pads are removed, and the platform base 5 is placed on the vibration isolators 2. The vibration isolators 2 are used to reduce vibrations of the platform base 5 caused by the turbulence of the moving carrier.

[0071] Specifically, such as Figure 3 As shown, each pad includes: a plurality of vertically stacked pads, each pad having coaxial fixing holes 23 on its symmetrical upper and lower sides, so that the fixing member 6 can be connected to the adapter plate 1 by passing through the two fixing holes 23 perpendicular to the pad surface with the fixing holes 23. Figure 5As shown, the shape of the fixing hole 23 can be a U-shaped through hole extending along the length direction of the cushion block, which can ensure the fixing member 6 to pass through the cushion block while allowing the position of the cushion block to be adjustable.

[0072] In a specific embodiment, as shown in Figure 3 each cushion piece includes: a first cushion block 3 and a second cushion block 4 vertically stacked upward, and the first cushion block 3 and the second cushion block 4 are placed between the adapter plate 1 and the platform base 5, and the height of the two after being stacked is higher than the height of the vibration isolator 2, so that the platform base 5 is located above the vibration isolator 2 without contacting the vibration isolator 2. The fixing member 6 can be connected to the adapter plate 1 by sequentially passing through the platform base 5, the second cushion block 4, the first cushion block 3.

[0073] Further, as shown in Figure 4 the adapter plate 1 is provided with a plurality of bosses 22 uniformly arranged on its surface, and the surface of the boss 22 is provided with a threaded hole, so that the fixing member 6 is inserted into the boss 22 and connected with the boss 22 by threading. When the stable platform is not used, a plurality of cushion blocks in each cushion piece are vertically stacked, and the projection of the fixing hole 23 of the cushion block on the adapter plate 1 covers the corresponding boss 22, so that the bottom end of the fixing member 6 sequentially passes through the platform base 5, the fixing hole 23 on each of the plurality of cushion blocks and is inserted into the boss 22, thereby fixing and connecting the platform base 5 and the adapter plate 1 by the fixing member 6.

[0074] In a specific embodiment, the fixing member 6 includes a bolt and a nut, the bottom end of the bolt sequentially passes through the platform base 5, the fixing hole 23 on each of the plurality of cushion blocks and is inserted into the boss 22, and the top end of the bolt is locked by the nut, so that the platform base 5, the cushion piece and the adapter plate 1 are fixed together.

[0075] As shown in Figure 3 , Figure 6 and Figure 11 the azimuth rotating mechanism 200 is fixed at the center of the platform base 5 and includes an outer frame 9, a support turntable 8, a locking member 44 and a limiting assembly 900. The bottom surface of the support turntable 8 is fixed at the center of the platform base 5. The bottom center of the outer frame 9 is rotatably connected to the top center of the support turntable 8, so that the outer frame 9 can rotate relative to the support turntable 8 in the horizontal plane (i.e., rotate around the azimuth axis coinciding with the axis of the support turntable 8, refer to Figure 1 ).

[0076] As shown in Figure 6 and Figure 11As shown, the limiting assembly 900 is fixed on the platform base 5, including: a blocking piece and at least one limiting piece, the limiting piece is fixed on the platform base 5; the top end of the blocking piece is fixed on the outer frame 9, and the bottom end of the blocking piece extends downward until the side of the bottom end of the blocking piece contacts the limiting piece. When the outer frame 9 rotates, the blocking piece can rotate with the outer frame 9 until the side of the bottom end of the blocking piece contacts the limiting piece, blocking the further rotation of the outer frame 9, and limiting the rotation angle of the outer frame 9.

[0077] Further, the azimuth rotation mechanism 200 further includes: an azimuth driving unit, which can be a servo motor, the azimuth driving unit is fixed on the support turntable 8, and its output end is connected to the outer frame 9, for controlling the movement of the outer frame 9 relative to the support turntable 8.

[0078] In an embodiment, when only one limiting piece is provided on the platform base 5, the blocking piece can rotate 360° with the outer frame 9 from the position of contacting the limiting piece until the side of the bottom end of the blocking piece contacts the limiting piece again, realizing the 360° limiting of the rotation of the outer frame 9. In another embodiment, when two limiting pieces are provided on the platform base 5, the blocking piece can rotate between the two limiting pieces with the outer frame 9, realizing the limiting of the rotation of the outer frame 9 at any angle; at this time, the maximum angle of rotation of the outer frame 9 can be adjusted by adjusting the distance between the two limiting pieces.

[0079] In a specific embodiment, as shown in Figure 11 The blocking piece includes: a first blocking rod 38 connected to the outer frame 9 and a second blocking rod 39 connected to the first blocking rod 38, the second blocking rod 39 is used to extend the first blocking rod 38 downward so that the bottom end of the first blocking rod 38 can contact the limiting piece. The limiting piece includes: a first limiting piece 42 fixed on the platform base 5 and a second limiting piece 40, one end of the first limiting piece 42 is fixed on the platform base 5; the second limiting piece 40 is connected to the other end of the first limiting piece 42, used to extend the length of the first limiting piece 42 upward so that the top end of the second limiting piece 40 can contact the side of the second blocking rod 39, realizing the limiting of the rotation angle of the blocking piece. In a preferred embodiment, the first limiting piece 42 and the second limiting piece 40 are connected through a rotating shaft (such as a pin), so that the second limiting piece 40 can rotate within ±15° deviated from the vertical direction around the rotating shaft, buffering the process of rotating to stopping of the blocking piece, preventing the blocking piece from damaging the limiting piece due to inertia.

[0080] As shown in Figure 6 and Figure 11As shown, the locking member 44 is fixed at the bottom of the outer frame 9, and the bottom end of the locking member 44 is retractable. When the stabilizing platform is not used, the bottom end of the locking member 44 is inserted into the corresponding groove on the support turntable 8, so as to lock the outer frame 9 relative to the support turntable 8; when the stabilizing platform is used, the bottom end of the locking member 44 is shortened, so that the bottom end of the locking member 44 is away from the support turntable 8, and the outer frame 9 and the support turntable 8 can move relatively.

[0081] Further, as shown in Figure 3 and Figure 6 , the outer frame 9 is a U-shaped structure, and two ends of the outer frame 9 are symmetrically provided with connecting members 10, and the two connecting members 10 are connected with the horizontal-rolling rotating mechanism 400, so that the horizontal-rolling rotating mechanism 400 can rotate relative to the outer frame 9 in a vertical plane (i.e., rotate around the horizontal-rolling shaft coinciding with the connecting line of the two connecting members 10, refer to Figure 1 ).

[0082] The horizontal-rolling rotating mechanism 400 comprises an inner frame 11. The inner frame 11 is a ring-shaped structure, and two symmetric side edges of the inner frame 11 are respectively fixed on the two connecting members 10 of the outer frame 9, so that the inner frame 11 is symmetric about the horizontal-rolling shaft, and the inner frame 11 can rotate relative to the outer frame 9 around the horizontal-rolling shaft.

[0083] Further, as shown in Figure 3 and Figure 6 , the horizontal-rolling rotating mechanism 400 further comprises a horizontal-rolling limiting member 17, which is fixed at the bottom of the outer frame 9, and the size of the horizontal-rolling limiting member 17 can be set according to requirements, so as to limit the rotation angle of the inner frame 11 in the outer frame 9.

[0084] Further, the horizontal-rolling rotating mechanism 400 further comprises a horizontal-rolling driving unit, which can be a servo motor. The horizontal-rolling driving unit is arranged at at least one of the connecting members 10, and the horizontal-rolling driving unit is fixed on the outer frame 9, and the output end of the horizontal-rolling driving unit is connected with the inner frame 11, so as to control the rotation movement of the inner frame 11 relative to the outer frame 9.

[0085] Further, as shown in Figure 6 , the inner frame 11 is provided with rotation holes symmetric about the horizontal-rolling shaft, and two rotation holes are respectively located on two symmetric side edges of the inner frame 11 away from the connecting members 10, and the connecting line (i.e., the pitching shaft) of the centers of the two rotation holes is perpendicular to the horizontal-rolling shaft. Each rotation hole is used for fixing the pitching rotating mechanism 800.

[0086] As shown in Figure 6 and Figure 9As shown, two said pitch rotation mechanisms 800 are symmetrically arranged about the roll axis and are arranged on the inner frame 11. Each said pitch rotation mechanism 800 comprises: an adjusting limit block 33, an adjusting ring 34, a rotating assembly. The rotating assembly is inserted into the rotating hole and can rotate along its axis in the rotating hole. The adjusting limit block 33 is fixed on the inner wall of the inner frame 11. As shown, Figure 10 As shown, the adjusting ring 34 is sleeved on the rotating assembly, and the adjusting ring 34 is provided with a stop block 36, which can rotate with the adjusting ring 34, and after the adjusting ring 34 rotates with the rotating assembly by a certain angle, the stop block 36 abuts against the adjusting limit block 33 to limit the rotation angle of the rotating assembly.

[0087] Specifically, as shown, Figure 7 and Figure 9 As shown, the rotating assembly comprises: coaxially arranged inner rotating shaft 29, outer rotating shaft 31, connecting sleeve, fixing sleeve 26. The outer rotating shaft 31 is located in the rotating hole; one end of the inner rotating shaft 29 is inserted into the outer rotating shaft 31, and the inner rotating shaft 29 can move in the outer rotating shaft 31 along its axis direction; the other end of the inner rotating shaft 29 is fixed on the side of the device to be stabilized 300. In use, the telescopic length of the inner rotating shaft 29 in the outer rotating shaft 31 can be adjusted based on the size of the device to be stabilized 300, so that the device to be stabilized 300 is fixed at the center position of the inner frame 11. As shown, Figure 8 As shown, the connecting sleeve is sleeved on the inner rotating shaft 29 and comprises a connecting seat 24 and an adjusting seat 25; the connecting seat 24 is sleeved on the inner rotating shaft 29 and is fixed on the end face of the outer rotating shaft 31, so that the inner rotating shaft 29 can rotate coaxially with the outer rotating shaft 31, and the connecting seat 24 is located between the inner rotating shaft 29 and the adjusting ring 34; the adjusting seat 25 is composed of a plurality of adjusting segments fixed at one end on the connecting seat 24, and the plurality of adjusting segments wrap the outer part of the inner rotating shaft 29, so that the adjusting seat 25 is adapted to wrap the inner rotating shaft 29 with different diameters. As shown, Figure 7 and Figure 9 As shown, the fixing sleeve 26 is sleeved outside the adjusting seat 25, so that the plurality of adjusting segments tightly wrap the inner rotating shaft 29, realizing the fixed connection of the connecting sleeve and the inner rotating shaft 29.

[0088] Further, as shown, Figure 7As shown, the outer rotating shaft 31 is provided with an adjusting hole at its axis, which is used to accommodate the inner rotating shaft 29, and the inner wall surface of the adjusting hole is provided with a guide groove along its axial direction. The side surface of one end of the inner rotating shaft 29 located in the adjusting hole is provided with a guide block 30, which is matched with the guide groove. When the inner rotating shaft 29 is adjusted in the adjusting hole, the guide block 30 moves along the guide groove with the inner rotating shaft 29, which completes the extension and contraction of the inner rotating shaft 29, and effectively prevents the non-same-frequency rotation of the inner rotating shaft 29 and the outer rotating shaft 31.

[0089] When the stop block 36 on the adjusting ring 34 is located at the first angle, the stop block 36 is away from the adjusting limit block 33; when the stop block 36 on the adjusting ring 34 is located at the second angle, the stop block 36 contacts the adjusting limit block 33, which limits the rotation of the adjusting ring, so that the rotating assembly can rotate between the first angle and the second angle. In the preferred embodiment, the rotation angle of the rotating assembly can be limited by adjusting the distance between the stop block 36 on the adjusting ring 34 and the adjusting limit block 33.

[0090] The two pitch rotating mechanisms 800 are fixed between the to-be-stabilized equipment 300, and the center of the to-be-stabilized equipment 300 is located at the intersection of the azimuth axis, the roll axis and the pitch axis by the extension and contraction of the inner rotating shaft 29 relative to the outer rotating shaft 31, which ensures that the rotation angle and rotation rate of the pitch rotating mechanism 800, the roll rotating mechanism 400 and the azimuth rotating mechanism 200 are consistent with those of the to-be-stabilized equipment 300 in each direction, facilitates the adjustment of the rotation angle and rotation rate of the to-be-stabilized equipment 300, and makes the to-be-stabilized equipment 300 reach a stable state.

[0091] Further, each rotating assembly further comprises a pitch driving unit, which is usually a servo motor; the pitch driving unit is fixed on the inner frame 11, and its output end is connected to the outer rotating shaft 31, which is used to control the rotation of the rotating assembly relative to the inner frame 11.

[0092] Further, as shown in Figure 1 and Figure 2 The stabilizing platform further comprises a measuring mechanism, which is used to test the position of the stabilizing platform and the deflection of the to-be-stabilized equipment 300 after being swung by the motion carrier (i.e. to obtain the factors of the to-be-stabilized equipment 300 in the unstable state), and the measuring mechanism comprises two rotation speed measuring units 500, an inertial measuring unit 600 and a position measuring unit 700.

[0093] Specifically, as shown in Figure 2 The two rotation speed measuring units 500 are respectively installed on the outer rotating shaft 31 of each rotating assembly, and are located outside the inner frame 11. As shown in Figure 12As shown, each rotation speed measuring mechanism comprises a base 49, and a first single-axis gyroscope 48, a second single-axis gyroscope 47, and a third single-axis gyroscope 45 arranged on the base 49. The base 49 is fixed on the outer rotating shaft 31 and located outside the inner frame 11. The axis of the first single-axis gyroscope 48 is parallel to the roll axis, and is used to measure the rotation speed of the inner frame 11; the axis of the second single-axis gyroscope 47 is coincident with the pitch axis, and is used to measure the rotation speed of the rotating assembly; the axis of the third single-axis gyroscope 45 is parallel to the yaw axis, and is used to measure the rotation speed of the outer frame 9.

[0094] The inertial measurement unit 600 is arranged on the platform base 5, and is used to measure the attitude angle of the moving carrier on which the stabilizing platform is installed.

[0095] The position measuring unit 700 is used to receive satellite signals of the moving carrier, and obtain the positioning information of the moving carrier. As shown in the figure, Figure 3 As shown, the position measuring unit 700 is arranged on the platform base 5, and comprises two signal antennas 18, a crossbeam 20, and a crossbeam mounting plate 21. The crossbeam mounting plate 21 is fixed on the platform base 5, the crossbeam 20 is mounted on the crossbeam mounting plate 21, and the two signal antennas 18 are fixed on the crossbeam 20 through an antenna mounting seat 19 to receive satellite signals.

[0096] Further, the measuring mechanism further comprises an optical measuring unit 14, which is usually an optical measuring instrument, and is arranged on the inner frame 11, and is used to obtain image information of the position of the moving carrier.

[0097] Further, in order to enable the device to be stabilized 300 on the stabilizing platform to resist the swing of the moving carrier, as shown in the figure, Figure 13 As shown, the stabilizing platform further comprises a servo control system, which can generate a control signal according to the position change of the device to be stabilized 300 caused by the swing of the moving carrier, and control the rotation angle and rotation speed of the inner frame 11, the outer frame 9, and the rotating assembly of the stabilizing platform, so as to enable the device to be stabilized 300 to be in an unstable state caused by the swing of the moving carrier.

[0098] Specifically, the rotation speed measuring unit 500 can generate a rotation speed signal comprising the rotation speed of the inner frame 11 (i.e. the rotation speed of the device to be stabilized 300 around the roll axis), the rotation speed of the outer frame 9 (i.e. the rotation speed of the device to be stabilized 300 around the yaw axis), and the rotation speed of the rotating assembly (i.e. the rotation speed of the device to be stabilized 300 around the pitch axis); and the servo control system is in signal connection with the rotation speed measuring unit 500, and can receive the rotation speed signal sent by the rotation speed measuring unit 500.

[0099] The inertial measurement unit 600 can generate an inertial combination signal including a motion carrier attitude angle; and the servo control system is in signal connection with the inertial measurement unit 600, and can receive the inertial combination signal sent by the inertial measurement unit 600.

[0100] The position measurement unit 700 can generate a positioning signal of the motion carrier; and the servo control system is in signal connection with the position measurement unit 700, and can receive the positioning signal sent by the position measurement unit 700.

[0101] The servo control system can generate a control signal for stabilizing the device to be stabilized 300 according to the rotation speed signal, the inertial combination signal and the positioning signal. The servo control system is in signal connection with the azimuth driving unit of the azimuth rotating mechanism 200, the roll driving unit of the roll rotating mechanism 400 and the pitch driving unit of the pitch rotating mechanism 800 respectively, and sends the control signal to the azimuth driving unit, the roll driving unit and the pitch driving unit respectively, so as to control the rotation angle and rotation speed of the outer frame 9, the inner frame 11 and the rotating assembly, and to realize the stabilization of the device to be stabilized 300.

[0102] In the preferred embodiment, the optical measurement unit 14 is in signal connection with the servo control system, and can send the image information collected by the optical measurement unit 14 to the servo control system, so that the servo control system can generate a more accurate control signal.

[0103] In the process of stabilizing the device to be stabilized 300 by using the stabilization platform, the fixing member 6 on the platform base 5 is disassembled, and then the cushion member between the platform base 5 and the adapter plate 1 is disassembled, so that the platform base contacts the vibration isolator 2, and the vibration isolator 2 is used to damp the platform base 5. At the same time, the locking member 44 of the azimuth rotating mechanism 200 is opened, the bottom end of the locking member 44 is shortened, and then the outer frame 9 and the support turntable 8 can move relatively. At this time, the outer frame 9 can rotate around the azimuth axis relative to the support turntable 8, the inner frame 11 can rotate around the roll axis relative to the outer frame 9, and the rotating assembly can rotate around the pitch axis relative to the inner frame 11, so that the position of the device to be stabilized 300 can be moved.

[0104] When the stabilization platform is swung by the motion carrier and the device to be stabilized 300 is in an unstable state, the locking member 44 of the azimuth rotating mechanism 200 is opened, the bottom end of the locking member 44 is shortened, and then the outer frame 9 and the support turntable 8 can move relatively. At this time, the outer frame 9 can rotate around the azimuth axis relative to the support turntable 8, the inner frame 11 can rotate around the roll axis relative to the outer frame 9, and the rotating assembly can rotate around the pitch axis relative to the inner frame 11, so that the position of the device to be stabilized 300 can be moved. Figure 13As shown, the servo control system acquires the inertial combined signal, the rotation speed signal and the positioning signal in real time through the measuring mechanism, and generates a control signal; and then sends the control signal to the azimuth driving unit of the azimuth rotating mechanism 200, the roll driving unit of the roll rotating mechanism 400 and the pitch driving unit of the pitch rotating mechanism 800. The azimuth driving unit controls the rotation of the outer frame 9 relative to the support turntable 8 according to the control signal, so that the to-be-stabilized device 300 tends to be stable in the rotation on the azimuth axis; the roll driving unit of the roll rotating mechanism 400 controls the rotation of the inner frame 11 relative to the outer frame 9 according to the control signal, so that the to-be-stabilized device 300 tends to be stable in the rotation on the roll axis; and the pitch driving unit of the pitch rotating mechanism 800 controls the rotation of the rotating assembly according to the control signal, so that the rotating assembly drives the to-be-stabilized device 300 to rotate relative to the inner frame 11, and the to-be-stabilized device tends to be stable in the rotation on the pitch axis, and the to-be-stabilized device 300 returns to the stable state.

[0105] In summary, the stabilizing platform according to the present application makes the to-be-stabilized device not affected by the bumping of the moving carrier by arranging the shock isolator; and controls the rotation angle and rotation rate of the to-be-stabilized device on the azimuth axis, the roll axis and the pitch axis by arranging the azimuth rotating mechanism, the roll rotating mechanism and the two pitch rotating mechanisms, so that the to-be-stabilized device resists the swing of the moving carrier caused by the external influence, isolates the disturbance of the moving carrier to the to-be-stabilized device, provides high-precision stabilization conditions for the to-be-stabilized device, and realizes the normal work of the to-be-stabilized device.

[0106] Although the present application has been described in detail by the above preferred embodiments, it should be recognized that the above description should not be considered as limiting the present application. After reading the above description, various modifications and substitutions of the present application will be apparent to those skilled in the art. Therefore, the scope of protection of the present application should be defined by the appended claims.

Claims

1. A high-precision attitude stabilization platform for isolating the disturbance of a moving carrier to a device to be stabilized due to its motion, characterized in that: include: A supporting mechanism, fixed on the moving carrier; An azimuth rotation mechanism is provided on the support mechanism, and the azimuth rotation mechanism rotates around an azimuth axis relative to the support mechanism; A roll rotation mechanism is provided on the azimuth rotation mechanism, and the roll rotation mechanism rotates around a roll axis relative to the azimuth rotation mechanism; Two pitch rotation mechanisms are symmetrically arranged on the roll rotation mechanism and are both connected to the device to be stabilized; each pitch rotation mechanism rotates around the pitch axis relative to the roll rotation mechanism; and the azimuth axis, roll axis, and pitch axis are perpendicular to each other; Among them, the supporting mechanism includes: an adapter plate, a platform base, and several vibration isolators; the adapter plate is fixed on the moving carrier, and the platform base is used to support the azimuth rotation mechanism; several vibration isolators are evenly fixed on the adapter plate, and each vibration isolator is located between the adapter plate and the platform base, so as to isolate and filter the motion interference of the moving carrier for the equipment to be stabilized.

2. The high-precision attitude stabilization platform according to claim 1, characterized in that: The support mechanism further comprises: Several pads are evenly placed on the adapter plate, with one end of each pad contacting the adapter plate and the other end contacting the platform base to support the platform base; and the height of the pads is higher than the height of the vibration isolator, so that the base platform is separated from the vibration isolator. A plurality of fixing members, the bottom of each fixing member sequentially passes through the platform base and the cushion member and is detachably connected to the adapter plate.

3. The high-precision attitude stabilization platform according to claim 2, characterized in that: Each cushion member includes: a plurality of vertically stacked cushion blocks, and two symmetrical side surfaces of each cushion block are provided with coaxial fixing holes, so that the fixing member is perpendicular to the cushion block surface with the fixing holes and passes through the two fixing holes to be connected to the adapter plate.

4. The high-precision attitude stabilization platform according to claim 1, characterized in that: The azimuth rotation mechanism comprises: a supporting turntable, the bottom surface of which is fixed to the center of the platform base; An outer frame, the center position of its bottom is rotatably connected to the center of the top surface of the support turntable, so that the outer frame can rotate around the azimuth axis relative to the support turntable; The limiting assembly includes: a blocking member and at least one limiting member, wherein the limiting member is fixed to the platform base; the top end of the blocking member is fixed to the outer frame, and the bottom end of the blocking member extends downward so that the side of the blocking member contacts the limiting member; A locking member is fixed to the bottom of the outer frame, and the bottom end of the locking member is retractable to achieve fixation between the outer frame and the supporting turntable; The azimuth driving unit is fixed on the supporting turntable, and the output end of the azimuth driving unit is connected to the outer frame for controlling the movement of the outer frame relative to the supporting turntable.

5. The high-precision attitude stabilization platform according to claim 4, characterized in that: The outer frame is a U-shaped structure with connecting pieces symmetrically provided at both ends. The two connecting pieces are respectively connected to the roll rotation mechanism; the roll rotation mechanism includes: An inner frame, wherein the inner frame is an annular structure, and two symmetrical sides of the inner frame are respectively fixed to two connecting members of the outer frame, so that the inner frame is symmetrical about the line connecting the two connecting members; the line connecting the two connecting members is used as the roll axis; The roll drive unit is provided at at least one of the connecting members, and the roll drive unit is fixed on the outer frame, and an output end thereof is connected to the inner frame for controlling the rotational movement of the inner frame relative to the outer frame.

6. The high-precision attitude stabilization platform according to claim 5, characterized in that: The inner frame is provided with rotation holes symmetrical with respect to the line connecting the two connecting members; the two rotation holes are respectively located on two symmetrical sides of the inner frame away from the connecting members; Each of the pitch rotation mechanisms comprises: A rotating assembly is inserted into the rotating hole so as to rotate the rotating assembly around the pitch axis in the rotating hole; An adjusting limit block is fixed on the inner wall of the inner frame; An adjusting ring is sleeved on the rotating assembly, and a stopper is provided on the adjusting ring; wherein, after the adjusting ring rotates a certain angle along with the rotating assembly, the stopper contacts the adjusting limit block.

7. The high-precision attitude stabilization platform according to claim 6, characterized in that: The rotating assembly includes: an inner rotating shaft, an outer rotating shaft, a connecting sleeve, a fixing sleeve, and a pitch driving unit that are coaxially arranged; The outer rotating shaft is located in the rotating hole; One end of the inner rotating shaft is inserted into the outer rotating shaft, and the inner rotating shaft can move in the outer rotating shaft along its axial direction; the other end of the inner rotating shaft is fixed to the side of the device to be stabilized; The connecting sleeve includes: a connecting seat and an adjusting seat; the connecting seat is arranged on the inner rotating shaft and fixed on the end surface of the outer rotating shaft, and the connecting seat is located between the inner rotating shaft and the adjusting ring; the adjusting seat is composed of a plurality of adjusting segments with one end fixed to the connecting seat, and the plurality of adjusting segments are all wrapped around the outside of the inner rotating shaft; The fixing sleeve is arranged on the outside of the adjustment seat to fix the connecting sleeve to the inner rotating shaft; The pitch drive unit is fixed to the roll rotation mechanism, and an output end thereof is connected to the outer rotation shaft for controlling the rotation of the rotation assembly relative to the roll rotation mechanism.

8. The high-precision attitude stabilization platform according to claim 7, characterized in that: Also includes: A measuring mechanism, comprising: The two speed measuring units are respectively installed on the outer rotating shaft of each rotating component and are located on the outside of the inner frame; each speed measuring mechanism includes: a base, and a first single-axis gyroscope, a second single-axis gyroscope, and a third single-axis gyroscope arranged on the base; the base is fixed on the outer rotating shaft and is located on the outside of the inner frame; the axis of the first single-axis gyroscope is parallel to the roll axis and is used to test the rotation speed of the roll rotation mechanism; the axis of the second single-axis gyroscope coincides with the pitch axis and is used to test the rotation speed of the pitch rotation mechanism; the axis of the third single-axis gyroscope is parallel to the azimuth axis and is used to test the rotation speed of the azimuth rotation mechanism. The inertial measurement unit is arranged on the platform base and is used to measure the attitude angle of the motion carrier; The position measurement unit is arranged on the platform base and is used to receive satellite signals of the moving carrier and obtain positioning information of the moving carrier.

9. The high-precision attitude stabilization platform according to claim 8, characterized in that: Also includes: Servo control system; The rotation speed measurement unit generates a rotation speed signal including the rotation speed of the azimuth rotation mechanism, the rotation speed of the roll rotation mechanism, and the rotation speed of the pitch rotation mechanism; and the servo control system is signal-connected to the rotation speed measurement unit to receive the rotation speed signal sent by the rotation speed measurement unit; The inertial measurement unit generates an inertial combination signal including an attitude angle of the motion carrier; the servo control system is connected to the inertial measurement unit signal and receives the inertial combination signal sent by the inertial measurement unit; The position measurement unit generates a positioning signal of the moving carrier; the servo control system is connected to the position measurement unit signal and receives the positioning signal sent by the position measurement unit; The servo control system generates a control signal for stabilizing the device to be stabilized according to the speed signal, the inertia combination signal, and the positioning signal; The servo control system is respectively connected to the azimuth drive unit, roll drive unit, and pitch drive unit signals, and sends control signals to the azimuth drive unit, roll drive unit, and pitch drive unit respectively to control the rotation angle and rotation rate of the azimuth rotation mechanism, roll rotation mechanism, and pitch rotation mechanism.

10. A method for using the high-precision attitude stabilization platform according to any one of claims 1 to 9, characterized in that: Remove the fixings on the platform base and then remove the gasket between the platform base and the adapter plate, so that the platform base contacts the vibration isolator, and the vibration isolator is used to reduce vibration of the platform base; Open the locking piece of the azimuth rotation mechanism to shorten the bottom end of the locking piece, thereby allowing the outer frame and the supporting turntable to move relative to each other; The servo control system obtains the inertial combination signal, speed signal, and positioning signal in real time through the measuring mechanism, and generates a control signal; and then sends the control signal to the azimuth drive unit, roll drive unit, and pitch drive unit to restore the device to be stabilized to a stable state.

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