Two-shaft frame type servo stabilized platform

Abstract

The utility model belongs to the technical field of servo stabilized platforms, and particularly discloses a two-shaft frame type servo stabilized platform which comprises a base, and an outer frame, an inner frame, an outer motor, an outer rotary transformer, an inner motor and an inner rotary transformer are arranged on the base. The outer frame is rotatably mounted in the base along a first axis through the outer motor and the outer rotary transformer, the inner frame is used for loading a sensor, and the inner frame is rotatably mounted in the outer frame along a second axis through the inner motor and the inner rotary transformer; the outer motor and the outer rotary transformer each comprise a supporting frame, a stator and a rotor, the stators and the rotors are integrally installed on the supporting frames, the supporting frames are fixed to the outer frame, and the supporting frames are provided with positioning holes. An outer support is mounted on the base and axially limits the inner wall of the positioning hole, and the outer support and the base jointly lock the outer rotating motor and a stator of the outer rotating transformer. The two-shaft frame type servo stabilized platform has the advantages that the radial size is small, the moving range of the frame is large, and the platform is convenient to disassemble and assemble.

Description

Technical Field

[0001] The present application belongs to the technical field of servo stabilization platforms, and more specifically, to a two-axis frame-type servo stabilization platform. Background Art

[0002] The servo stabilized platform is a mechatronic system used to keep the load stable. The servo stabilized platform is usually used to carry various sensors and can keep the sensors stable so that the sensors can track the target smoothly.

[0003] In the related technology, a servo-stabilized platform is often used as a position marker for the detection system to track the target; in order to facilitate the detection system to perform flexible tracking, a double-frame servo-stabilized platform is often used to carry and rotate the detection system. However, most double-frame structures use torque motors, which directly drive the frame body to rotate through the torque motor sleeve shaft. This will inevitably require a larger radial size to arrange the motor, making the size of the servo-stabilized platform larger, and the motor installation process is often accompanied by the installation of the flange, which affects the space utilization; at the same time, this design is not conducive to the assembly of the servo-stabilized platform, the large-range rotation of the double-frame structure, and the miniaturization design of the servo-stabilized platform, and it is in urgent need of improvement. Utility Model Content

[0004] In view of the defects of the prior art, the purpose of the present application is to provide a two-axis frame-type servo stabilization platform, aiming to reduce the size of the servo stabilization platform and facilitate the assembly of the servo stabilization platform.

[0005] To achieve the above-mentioned purpose, the present application provides a two-axis frame-type servo stabilization platform, including a base, on which an outer frame, an inner frame, an outer motor, an outer rotary transformer, an inner motor and an inner rotary transformer are installed;

[0006] The outer frame is rotatably mounted in the base along a first axis through an external motor and an external rotary transformer, the inner frame is used to load the sensor, and the inner frame is rotatably mounted in the outer frame along a second axis through an internal motor and an internal rotary transformer, and the second axis is perpendicular to the first axis;

[0007] The external motor and the external rotary transformer both include a support frame, a stator and a rotor, the stator and the rotor are integrally mounted on the support frame, the support frame is fixed to the outer frame, and the support frame has a positioning hole coaxial with the first axis;

[0008] An outer support is installed on the base, the outer support axially limits the inner wall of the positioning hole, and the outer support and the base jointly lock the stator.

[0009] The above technical scheme conceived by the present application, compared with the prior art, since the external motor and the external rotating transformer are integrally connected to the outer frame, the installation steps of the connecting shaft and the flange are omitted, which can save the internal design space of the servo stabilization platform, and the outer frame can be flexibly rotated to obtain a larger frame angle, which is conducive to expanding the rotation range of the double-frame structure; and since the stator and the rotor are connected to the support frame, and the support frame is fixed on the outer frame, the integrated design of the motor and the rotating transformer is realized, which makes the servo stabilization platform easy to disassemble and assemble, and simple to maintain.

[0010] In addition, since the external support can be fixed on the base as a whole, the external support and the base work together to achieve multi-directional internal and external limiting and large-range protection of the motor, so that the external motor and external rotating transformer in this servo stabilization platform can remain stable and will not move, making the rotation adjustment of the servo stabilization platform more precise and stable.

[0011] As a further preference, a positioning protrusion is formed on one side of the base, a positioning structure is installed on the outer peripheral surface of the positioning protrusion, and the positioning structure fits the inner wall of the positioning hole.

[0012] By adopting the above technical solution, the positioning structure on the base can limit the inner wall of the positioning hole of the support frame, so that the support frame remains coaxial and stable, which is conducive to the motor driving the outer frame to rotate along the first axis.

[0013] As a further preferred embodiment, a positioning pin is provided on the outer peripheral surface of the outer support, the positioning pin is threadedly connected to the outer support, and the positioning pin can abut against the outer end of the stator.

[0014] By adopting the above technical solution, the provided positioning pins can interfere with and limit the stator to prevent the stator from radial movement.

[0015] As a further preference, the outer end surface of the outer support has a first through hole that passes through the positioning protrusion, and the outer frame is correspondingly provided with a second through hole, and the first through hole, the second through hole and the positioning hole form a first wiring channel that is colinear with the first axis.

[0016] By adopting the above technical solution, the first wiring channel formed is conducive to the wiring harness laying of the servo stabilization platform, so that the wiring harness can be routed along the first wiring channel, which is conducive to reducing the disturbance torque of the wiring harness and shortening the wiring amount.

[0017] As a further preference, the outer end surface of the outer support is provided with a wire groove connected to the first through hole, and a plurality of wire clips are fixed to the surface of the base.

[0018] By adopting the above technical solution, the wiring harness can enter the first wiring channel along the lead groove, thereby reducing the wiring space; and the set wire clamp can ensure stable restraint of the wiring harness and avoid friction damage between the wiring harness and the base.

[0019] As a further preference, the base is provided with a first limiting structure for limiting the rotation range of the outer frame.

[0020] As a further preference, the outer frame is provided with a second limiting structure for limiting the rotation range of the inner frame.

[0021] As a further preference, the base has a support ear for mounting a vibration reduction structure.

[0022] By adopting the above technical solution, the provided lugs can install the servo stabilization platform on the vibration reduction structure to suppress the conduction of vibration.

[0023] As further preferred, the outer support is provided with a weight-reducing hole, and the outer support is detachably equipped with a counterweight.

[0024] By adopting the above technical solution, the counterweight can be used to ensure the stable and reliable operation of the servo stable platform and reduce the unbalanced torque of the inner frame motor and the outer frame motor. The weight reduction hole can be used in conjunction with the counterweight to achieve the torque balance of the servo stable platform and is also beneficial to reduce the dead weight of the servo stable platform.

[0025] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art:

[0026] 1. Since the external motor and the external rotary transformer are integrally connected to the outer frame, the installation steps of the connecting shaft and the flange are omitted, which can save the internal design space of the servo stabilization platform and is also conducive to expanding the rotation range of the outer frame; and since the stator and the rotor are connected to the support frame, and the support frame is fixed on the outer frame, the motor rotary transformer integrated design is realized, making the installation and disassembly of the servo stabilization platform simple and quick, and the assembly efficiency is greatly improved.

[0027] 2. Since the external support can be fixed on the base as a whole, the external support and the base work together to achieve multi-directional internal and external limiting and large-range protection of the motor, so that the external motor and external rotary transformer in the servo stable platform can remain stable and will not move, making the rotation adjustment of the servo stable platform more precise and stable.

[0028] 3. The first wiring channel formed in the platform is conducive to the wiring of the servo stabilization platform, so that the wiring harness can be routed along the first wiring channel, which is conducive to reducing the disturbance torque of the wiring harness and shortening the wiring amount. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of a two-axis frame-type servo stabilization platform provided in an embodiment of the present application;

[0030] Figure 2It is a structural schematic diagram of another perspective of the two-axis frame-type servo stabilization platform provided in an embodiment of the present application;

[0031] Figure 3 It is a cross-sectional view of a two-axis frame-type servo stabilization platform provided in an embodiment of the present application.

[0032] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0033] 1. Base; 2. Outer frame; 3. Inner frame; 4. Outer motor; 5. Outer rotary transformer; 6. Inner motor; 7. Inner rotary transformer; 8. Support frame; 9. Stator; 10. Rotor; 11. Outer support; 11-1. Positioning protrusion; 11-2. First wiring channel; 11-3. Lead groove; 12. Positioning structure; 13. Positioning pin; 14. Counterweight; 15. Weight reduction hole; 16. First limiting structure; 17. Second limiting structure; 17-1. Limit rod; 17-2. Limit plate; 18. Support ear; 19. Wire clamp; 20. Wire pressing plate; 21. Inner support. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The following is combined with Figure 1-3 This application is described in further detail.

[0036] The embodiment of the present application discloses a two-axis frame-type servo stabilization platform.

[0037] Reference Figure 1-3The two-axis frame servo stabilization platform includes a base 1, on which an outer frame 2, an inner frame 3, an outer motor 4, an outer rotary transformer 5, an inner motor 6 and an inner rotary transformer 7 are installed. The outer frame 2 is rotatably installed in the base 1 around a first axis through the outer motor 4 and the outer rotary transformer 5; the inner frame 3 is used to install various sensors, and the inner frame 3 is rotatably installed in the outer frame 2 around a second axis through the inner rotary transformer 7 and the inner rotary transformer 7, and the second axis is perpendicular to the first axis. The external motor 4 and the external rotary transformer 5 both include a support frame 8, a stator 9 and a rotor 10. The stator 9 and the rotor 10 of the external motor 4 and the external rotary transformer 5 are integrally installed on the support frame 8. The support frame 8 of the external motor 4 and the support frame 8 of the external rotary transformer 5 are both fixed to the outer frame 2. The support frame 8 of the external motor 4 and the support frame 8 of the external rotary transformer 5 have a positioning hole coaxial with the first axis; correspondingly, an external support 11 is installed on the base 1, and the external support 11 axially limits the inner wall of the positioning hole. The external support 11 and the base 1 jointly lock the stator 9 of the external rotary motor and the stator 9 of the external rotary transformer 5.

[0038] Specifically, a receiving opening for accommodating the external motor 4 or the external rotary transformer 5 is opened on the base 1. The external motor 4 and the external rotary transformer 5 are arranged opposite to each other, and the connecting line therebetween is located on the first axis. The end of the external motor 4 and the external rotary transformer 5 facing the outer frame 2 abuts against the inner wall of the receiving opening, and the end of the external motor 4 and the external rotary transformer 5 away from the outer frame 2 abuts against the external support 11.

[0039] In order to ensure the stable installation of the external rotary motor and the external rotary transformer 5 and prevent the external rotary motor and the external rotary transformer 5 from moving, a positioning protrusion 11-1 is formed on the side of the external support 11 close to the outer frame 2, and a positioning structure 12 is installed on the outer peripheral surface of the positioning protrusion 11-1, and the positioning structure 12 fits the inner wall of the positioning hole. An upright positioning pin 13 is provided on the outer peripheral surface of the external support 11, and the positioning pin 13 is threadedly connected to the external support 11, and the positioning pin 13 can contact the outer end of the stator 9 of the external rotary motor or the external rotary transformer 5.

[0040] Specifically, the positioning structure 12 can be a protrusion-shaped or smooth structure fixed integrally or detachably on the positioning protrusion 11-1, or a bearing or a rotating sleeve, etc. Preferably, the positioning structure 12 in this embodiment is selected as a bearing that is interference-fitted on the positioning protrusion 11-1, and the bearing is used for support and reducing rotational friction.

[0041] Furthermore, the outer end surface of the outer support 11 has a first through hole that penetrates the positioning protrusion 11-1, and the outer frame 2 has a corresponding second through hole. The first through hole, the second through hole and the positioning hole form a first wiring channel 11-2 that is colinear with the first axis. In addition, the outer end surface of the outer support 11 is provided with a lead groove 11-3 that is connected to the first through hole, and a plurality of wire clips 19 are fixed on the surface of the base 1; in addition, the inner wall of the outer frame 2 is also provided with a wire groove, and the outer frame 2 is provided with a plurality of wire pressing plates 20 at the wire groove.

[0042] During use, the wiring harness can enter the first wiring channel 11-2 along the guide groove 11-3, and the wiring harness entering the outer frame 2 can also be passed through the wire groove, thereby achieving a reasonable layout of the wiring harness and reducing the wiring space; and the set wire clamp 19 can ensure the stable restraint of the wiring harness and avoid friction and damage between the wiring harness and the base 1 body or the guide head where the base 1 is located.

[0043] It should be noted that, in the present embodiment, a first wiring channel 11-2 is also formed at the outer rotary transformer 5 of the outer frame 2. In addition, the structural composition of the inner motor 6 is the same as that of the outer motor 4, the structural composition of the inner rotary transformer 7 is the same as that of the outer rotary transformer 5, the inner motor 6 and the support frame 8 of the inner rotary transformer 7 are fixed on the inner frame 3, and the inner frame 3 has an interface for installing a sensor, and an inner support 21 for limiting the inner motor 6 and the inner rotary transformer 7 is fixed on the inner frame 3, the structure of the inner support 21 is the same as that of the outer support 11 mentioned above, and a second wiring channel identical to the first wiring channel 11-2 is also formed between the inner support 21 and the inner frame 3.

[0044] Furthermore, in order to ensure stable and reliable operation of the servo stabilization platform and reduce the unbalanced torque of the motors of the inner frame 3 and the outer frame 2, a counterweight 14 can be detachably mounted on the outer support 11. The counterweight 14 can be a counterweight block or a counterweight ring.

[0045] Furthermore, the base 1, the outer support 11 and the inner support 21 are all provided with weight-reducing holes 15, which can be used in conjunction with the counterweight 14 to achieve torque balance of the servo-stabilized platform and also help to reduce the deadweight of the servo-stabilized platform.

[0046] In some embodiments, since the motor has a larger mass than the rotary transformer, a counterweight ring needs to be installed on the rotary transformer. By balancing step by step, the influence of the unbalanced torque on the torque motor can be reduced as much as possible.

[0047] Furthermore, in some embodiments, in order to adjust the rotation range of the inner frame 3 and the outer frame 2 , the base 1 is provided with a first limiting structure 16 for limiting the rotation range of the outer frame 2 , and the outer frame 2 is provided with a second limiting structure 17 for limiting the rotation range of the inner frame 3 .

[0048] The composition of the first limiting structure 16 and the composition of the second limiting structure 17 can be the same or different; for example, the first limiting structure 16 and the second limiting structure 17 can both be limiting blocks, or both include a limiting rod 17-1 and a limiting plate 17-2, or can be other structural parts with limiting functions; in actual applications, the selection process can be flexibly adjusted according to factors such as application scenarios and wiring layouts.

[0049] Preferably, in this embodiment, the first limiting structure 16 is selected as a limiting block, which is fixed to the inner side of the upper end of the base 1 and is located on the running track of the outer frame 2. During the operation of the platform, the outer frame 2 can be rotated and adjusted under the drive of the external motor 4 to adjust the azimuth angle, and the adjusted outer frame 2 can eventually contact the limiting block to limit the range of motion of the outer frame 2.

[0050] Preferably, in this embodiment, the second limiting structure 17 includes a limiting rod 17-1 fixed on the surface of the inner frame 3 and a limiting plate 17-2 fixed on the surface of the outer frame 2, and a limiting groove for limiting the range of motion of the limiting rod 17-1 is provided in the limiting plate 17-2. During the operation of the platform, the inner frame 3 can be rotated and adjusted under the drive of the inner motor 6 to adjust the pitch angle; and the inner frame 3 drives the limiting rod 17-1 to move, and the movable limiting rod 17-1 can eventually contact the inner wall of the limiting groove, thereby limiting the range of motion of the inner frame 3.

[0051] Furthermore, in order to facilitate the installation of the servo-stabilized platform and an external foundation or external equipment (such as a seeker), the base 1 has a lug 18 for installing a vibration reduction structure, and the vibration reduction structure can be a vibration damper, a spring vibration damper, a vibration absorber, etc. When installing the servo-stabilized platform, the vibration reduction structure is connected in series between the lug 18 and the external foundation to suppress the conduction of vibration.

[0052] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0053] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A two-axis frame servo stabilization platform, characterized in that: It comprises a base (1), on which an outer frame (2), an inner frame (3), an outer motor (4), an outer rotary transformer (5), an inner motor (6) and an inner rotary transformer (7) are mounted; The outer frame (2) is rotatably mounted in the base (1) along a first axis via an external motor (4) and an external rotary transformer (5); the inner frame (3) is used to load the sensor; the inner frame (3) is rotatably mounted in the outer frame (2) along a second axis via an internal motor (6) and an internal rotary transformer (7); the second axis is perpendicular to the first axis; The external motor (4) and the external rotary transformer (5) both comprise a support frame (8), a stator (9) and a rotor (10); the stator (9) and the rotor (10) are integrally mounted on the support frame (8); the support frame (8) is fixed to the outer frame (2); and the support frame (8) has a positioning hole coaxial with the first axis; An outer support (11) is mounted on the base (1), the outer support (11) axially limits the inner wall of the positioning hole, and the outer support (11) and the base (1) jointly lock the stator (9).

2. The two-axis frame servo stabilization platform according to claim 1, characterized in that: A positioning protrusion (11-1) is formed on one side of the base (1), a positioning structure (12) is installed on the outer peripheral surface of the positioning protrusion (11-1), and the positioning structure (12) fits the inner wall of the positioning hole.

3. The two-axis frame servo stabilization platform according to claim 1, characterized in that: A positioning pin (13) is provided on the outer peripheral surface of the outer support (11), the positioning pin (13) is threadedly connected to the outer support (11), and the positioning pin (13) can abut against the outer end of the stator (9).

4. The two-axis frame servo stabilization platform as claimed in claim 2, characterized in that: The outer end surface of the outer support (11) has a first through hole that penetrates the positioning protrusion (11-1), and the outer frame (2) has a corresponding second through hole. The first through hole, the second through hole and the positioning hole form a first wiring channel (11-2) that is colinear with the first axis.

5. The two-axis frame servo stabilization platform according to claim 4, characterized in that: The outer end surface of the outer support (11) is provided with a lead-in groove (11-3) connected to the first through hole, and a plurality of wire clips (19) are fixed on the surface of the base (1).

6. The two-axis frame servo stabilization platform according to any one of claims 1 to 5, characterized in that: The base (1) is provided with a first limiting structure (16) for limiting the rotation range of the outer frame (2).

7. The two-axis frame servo stabilization platform according to any one of claims 1 to 5, characterized in that: The outer frame (2) is provided with a second limiting structure (17) for limiting the rotation range of the inner frame (3).

8. The two-axis frame servo stabilization platform according to any one of claims 1 to 5, characterized in that: The base (1) is provided with a support lug (18) for mounting a vibration reduction structure.

9. The two-axis frame servo stabilization platform according to any one of claims 1 to 5, characterized in that: The outer support (11) is provided with a weight-reducing hole (15), and the outer support (11) is detachably equipped with a counterweight (14).

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