A dual-axis camera turntable with large elevation angle for locating targets

Abstract

The utility model discloses a large elevation angle dual-axis camera turntable for locating a target, and relates to the field of camera turntables, which includes a turntable, a pitch adjustment mechanism, and a turntable base. A camera connection frame is provided at the top of the turntable, a zoom camera is installed on the camera connection frame, and the turntable drives the zoom camera to rotate synchronously through the camera connection frame; the pitch adjustment mechanism is installed on the bottom surface of the turntable, and the turntable can be synchronously pitched according to the pitch adjustment mechanism; the pitch adjustment mechanism is installed on the top surface of the turntable base. The utility model realizes the pitch control and rotation control of the camera, and can drive the zoom camera to find the target position information through the dual-axis control system.

Description

Technical Field

[0001] The utility model relates to the field of camera turntables, in particular to a large elevation angle dual-axis camera turntable for positioning targets. Background Art

[0002] In recent years, with the rapid development of aviation and aerospace technology, various sensors have been developed one after another. As a supporting platform for their simulation, performance testing and analysis experiments, the high-precision turntable has more and more requirements for its corresponding performance.

[0003] The turntable uses a special servo system to meet the parameter requirements. The system can well solve the problems of angle range, angular acceleration, speed, positioning accuracy and repeat positioning accuracy. This servo system has the characteristics of fast response, large torque, good acceleration effect, super accurate positioning, etc. It has obvious advantages over traditional stepper motor systems and servo motor systems for positioning, especially in positioning accuracy.

[0004] In actual usage environments, the orientation control device for the camera can be divided into a single-axis servo system and a three-axis servo system. The single-axis servo system can only perform radial orientation control along a single axis, which often cannot meet the needs; and although the three-axis servo system can perform orientation control along multiple axes, its usage environment is relatively limited.

[0005] Therefore, those skilled in the art provide a large elevation angle dual-axis camera turntable for positioning targets to solve the problems raised in the above background technology. Utility Model Content

[0006] The utility model provides a large elevation angle dual-axis camera turntable for positioning a target, which is used for realizing the pitch control and the rotation control of the camera and can drive a zoom camera to find the target position information through a dual-axis control system.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] The utility model discloses a large elevation angle dual-axis camera turntable for positioning a target, comprising:

[0009] A rotating platform, wherein a camera connection frame is disposed on the top of the rotating platform, a zoom camera is mounted on the camera connection frame, and the rotating platform drives the zoom camera to rotate synchronously through the camera connection frame;

[0010] A pitch adjustment mechanism, the pitch adjustment mechanism is installed on the bottom surface of the rotating platform, and the rotating platform can be pitched synchronously according to the pitch adjustment mechanism;

[0011] The turntable base is installed on the top surface of the turntable base.

[0012] Furthermore, the rotating platform comprises:

[0013] A rotating platform, wherein the rotating platform is installed on the top surface of the pitch adjustment mechanism;

[0014] A stepper motor, wherein the stepper motor is installed on one side of the rotating platform;

[0015] The rotating table is arranged above the rotating table frame and is driven to rotate by a stepping motor.

[0016] Furthermore, a worm wheel is provided at the bottom end of the rotating table, and the worm wheel is meshedly connected with a worm, and the worm is rotatably installed on the rotating table, and the input end of the worm is connected to the output end of the stepper motor.

[0017] Furthermore, the worm is rotatably mounted on a worm support, and the worm support is arranged on a side of the rotating platform away from the stepping motor.

[0018] Furthermore, the rotating table is mounted on a retaining frame, the retaining frame is mounted on a side of the rotating table away from the stepping motor, and a gasket is provided between the retaining frame and the worm gear.

[0019] Furthermore, a power supply and signal interface is installed at one end of the rotating platform.

[0020] Furthermore, the pitch adjustment mechanism includes:

[0021] A pitching platform, wherein the rotating platform is installed on the top surface of the pitching platform;

[0022] A pitching frame, the top end of which is hinged to one end of the bottom surface of the pitching platform, and the pitching frame is mounted on one end of the top surface of the turntable base;

[0023] The electric push rod has a top end hinged to the other end of the bottom surface of the pitching platform; the bottom end of the electric push rod is hinged to a hinge seat, and the hinge seat is installed at the other end of the top surface of the turntable base.

[0024] Furthermore, the other end of the bottom surface of the pitch platform is symmetrically provided with powered demagnetizing electromagnets, and the two powered demagnetizing electromagnets are arranged on both sides of the electric push rod. The bottom ends of the two powered demagnetizing electromagnets are respectively magnetically attracted to the support frame, and the bottom end of the support frame is installed on the turntable base.

[0025] Furthermore, the pitch platform comprises:

[0026] A pitch hinge seat, the pitch hinge seat is connected to one end of the bottom surface of the pitch platform, and the middle part of the bottom surface of the pitch hinge seat protrudes outward to form a bulge;

[0027] A pitch platform support frame, wherein the middle portion of the top end of the pitch platform support frame is recessed inward to form a groove, the protrusion extends into the groove, a pitch shaft with an interference fit therewith is inserted into the protrusion, two ends of the pitch shaft extend into the groove wall of the groove, and the two ends of the pitch shaft are connected to the groove wall of the groove through angular contact ball bearings;

[0028] The adjusting pad is arranged between the pitching platform support frame and the turntable base, and is used to adjust the thickness of the adjusting pad to ensure the levelness of the pitching platform.

[0029] Furthermore, both ends of the top of the pitch platform support frame are recessed inward to form a positioning groove, the pitch axis extends into the positioning groove, and a bearing retaining ring is installed on the positioning groove away from the end of the pitch axis.

[0030] In the above technical solution, the utility model provides a large elevation angle dual-axis camera turntable for positioning a target, which has the following beneficial effects:

[0031] 1. When the stepper motor is working, it drives the worm to rotate, and then drives the rotating table to rotate through the worm wheel, thereby realizing the rotation of the rotating table; the worm is installed on the worm bracket, and the deep groove ball bearings and angular contact ball bearings at the worm bracket and both ends of the worm support the worm, and the cage and washer support the worm wheel to ensure the smooth operation of the rotating table.

[0032] 2. When the electric push rod is powered on, it can drive the pitching platform to perform pitching motion along the connection between the pitching platform 40 and the pitching frame. Limit switches are installed at the bottom and top of the electric push rod so that the electric push rod can automatically stop when it reaches the top and retracts to the bottom. The extension and contraction of the electric push rod realizes the pitching and tilting functions of the pitch adjustment mechanism.

[0033] 3. One end of the pitch platform is installed on the pitch articulated seat, and the pitch articulated seat is connected to the pitch platform support frame through a pitch axis. When the electric push rod pushes the other end of the pitch platform to rise or fall, the pitch articulated seat rotates along the axial direction of the pitch axis.

[0034] 4. The inner ring of the angular contact bearing is tightly attached to the shoulder of the pitch shaft, and its outer ring is pressed by the external thread of the bearing retaining ring to ensure the long-term operation stability of the pitch adjustment mechanism.

[0035] 5. The structure of the present application is cheap, can achieve a large inclination angle, and has good structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0037] Figure 1 A schematic structural diagram of a dual-axis camera turntable with a large elevation angle for positioning a target provided by an embodiment of the utility model;

[0038] Figure 2 for Figure 1 The structural diagram of the middle rotating table;

[0039] Figure 3 for Figure 1 A schematic diagram of the structure of the pitch adjustment mechanism;

[0040] Figure 4 for Figure 3 Cross-sectional view of the mid-pitch gantry.

[0041] Description of reference numerals:

[0042] 10. Rotating table; 11. Rotating table frame; 12. Stepping motor; 13. Rotating table surface; 14. Worm gear; 15. Worm; 16. Worm support; 17. Cage; 18. Washer; 19. Power supply and signal interface;

[0043] 20. Camera connection frame; 21. Zoom camera;

[0044] 30. Turntable base;

[0045] 40. Pitching platform; 41. Pitching stand; 42. Electric push rod; 43. Articulated seat; 44. Power-on demagnetizing electromagnet; 45. Support frame;

[0046] 411. pitch hinge seat; 412. protrusion; 413. pitch stand support frame; 414. groove; 415. pitch axis; 416. angular contact ball bearing; 417. adjustment pad; 418. positioning groove; 419. bearing retaining ring. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0048] See also Figure 1-4 As shown;

[0049] The large elevation angle dual-axis camera turntable for positioning a target described in an embodiment of the utility model comprises:

[0050] A rotating platform 10, wherein a camera connection frame 20 is disposed at the top of the rotating platform 10, and a zoom camera 21 is mounted on the camera connection frame 20, and the rotating platform 10 drives the zoom camera 21 to rotate synchronously through the camera connection frame 20;

[0051] A pitch adjustment mechanism, the pitch adjustment mechanism is installed on the bottom surface of the rotating platform 10, and the rotating platform 10 can be pitched synchronously according to the pitch adjustment mechanism;

[0052] The turntable base 30 , and the pitch adjustment mechanism is installed on the top surface of the turntable base 30 .

[0053] During specific operation, the rotating platform 10 drives the zoom camera 21 to rotate along its axis; the pitch adjustment mechanism drives the zoom camera 21 to pitch, that is, the present application realizes the pitch and rotation of the zoom camera 21.

[0054] The rotating platform 10 comprises:

[0055] A rotating platform 11, wherein the rotating platform 11 is installed on the top surface of the pitch adjustment mechanism;

[0056] A stepper motor 12, wherein the stepper motor 12 is installed on one side of the rotating platform 11;

[0057] The rotating table 13 is disposed above the rotating platform 11 and is driven to rotate by a stepping motor 12 .

[0058] The bottom end of the rotating table 13 has a worm wheel 14 , and the worm wheel 14 is meshed with a worm 15 . The worm 15 is rotatably mounted on the rotating table 11 , and the input end of the worm 15 is connected to the output end of the stepping motor 12 .

[0059] The worm 15 is rotatably mounted on a worm support 16 , and the worm support 16 is disposed on a side of the rotating platform 11 away from the stepping motor 12 .

[0060] The rotating table 13 is mounted on a holder 17 . The holder 17 is mounted on a side of the rotating table 11 away from the stepping motor 12 . A washer 18 is provided between the holder 17 and the worm gear 14 .

[0061] When the stepper motor 12 is working, it drives the worm 15 to rotate, and then drives the rotating table 13 to rotate through the worm wheel 14, thereby realizing the rotation of the rotating table 10; the stepper motor 12 is a 42 stepper motor, which can be decelerated by rotating two cylindrical gears, and then drives the worm 15 to rotate through a coupling; the worm 15 is installed on a worm support 16, and the worm support 16 and the deep groove ball bearings and angular contact ball bearings at both ends of the worm 15 support the worm 15, and the retaining frame 17 and the washer 18 support the worm wheel 14 to ensure the smooth operation of the rotating table 13.

[0062] The rotating table 13 can realize the rotation function of any angle range within the range of 0°-360°, and relies on the high-precision meshing cooperation between the worm wheel 14 and the worm 15 to achieve a repeated positioning accuracy of 0.005°.

[0063] A power supply and signal interface 19 is also installed at one end of the rotating platform 11. A left limit switch and a right limit switch are installed on the rotating table 13, and the rotation stroke of each camera is controlled by the left limit switch and the right limit switch; the power supply and signal interface 19 can be externally connected to a motor driver and a controller, and the start and stop and forward and reverse rotation of the stepper motor 12 are controlled by the motor driver. The rotation angle of the rotating table 13 driven by the stepper motor 12 is controlled by setting the number of pulses on the controller, that is, the rotation, forward and reverse rotation and emergency stop functions in any angle and orientation can be realized according to the needs.

[0064] The pitch adjustment mechanism comprises:

[0065] A pitching platform 40, wherein the rotating platform 11 is installed on the top surface of the pitching platform 40;

[0066] A pitching frame 41, the top of which is hinged to one end of the bottom surface of the pitching platform 40, and the pitching frame 41 is installed on one end of the top surface of the turntable base 30;

[0067] The electric push rod 42 has its top end hinged to the other end of the bottom surface of the pitch platform 40 ; the bottom end of the electric push rod 42 is hinged to a hinge seat 43 , and the hinge seat 43 is installed on the other end of the top surface of the turntable base 30 .

[0068] The other end of the bottom surface of the pitch platform 40 is symmetrically provided with powered demagnetizing electromagnets 44, and the two powered demagnetizing electromagnets 44 are respectively arranged on both sides of the electric push rod 42, and the bottom ends of the two powered demagnetizing electromagnets 44 are respectively magnetically attracted to the support frame 45, and the bottom end of the support frame 45 is installed on the turntable base 30.

[0069] The pitching platform 40 is connected to the rotating platform 11 by screws, and the pitching platform 41, the support frame 45 and the hinge seat 45 are connected to the turntable base 30 by screws, and the support frame 45 is made of 45 steel.

[0070] When the electric push rod 42 is powered on, the electric push rod 42 can drive the pitching platform 40 to perform pitching motion along the connection between the pitching platform 40 and the pitching frame 41. The speed of the electric push rod 42 is 3 mm / s. Limit switches are installed at the bottom and top of the electric push rod 42 so that the electric push rod 42 can automatically stop when it reaches the top and retracts to the bottom. The extension and contraction of the electric push rod 42 realizes the pitching and tilting functions of the pitch adjustment mechanism.

[0071] The electric push rod 42 is driven by the rotational motion of the motor at its bottom to drive the high-precision lead screw inside to rotate. The nut is fixed on the electric push rod 42, which converts the rotational motion of the motor into the linear displacement motion of the electric push rod 42.

[0072] The pitching platform 41 comprises:

[0073] A pitch articulated seat 411, the pitch articulated seat 411 is connected to one end of the bottom surface of the pitch platform 40, and the middle part of the bottom surface of the pitch articulated seat 411 protrudes outward to form a protrusion 412;

[0074] A pitch platform support frame 413, wherein the middle portion of the top end of the pitch platform support frame 413 is recessed inward to form a groove 414, wherein the protrusion 412 extends into the groove 414, wherein a pitch shaft 415 having an interference fit therewith is provided in the protrusion 412, wherein both ends of the pitch shaft 415 extend into the groove wall of the groove 414, and wherein both ends of the pitch shaft 415 are connected to the groove wall of the groove 414 via angular contact ball bearings 416;

[0075] The adjustment pad 417 is disposed between the pitch platform support frame 413 and the turntable base 30 and is used to adjust the thickness of the adjustment pad to ensure the levelness of the pitch platform 40 .

[0076] When the electric push rod 42 is fully retracted, the pitch adjustment mechanism is powered off. At this time, the demagnetized electromagnet 44 is energized and magnetic, and is adsorbed to the surface of the support frame 45. At this time, the pitch adjustment mechanism forms a three-point support structure, which ensures the structural stability of the pitch adjustment mechanism and the large-angle tilting requirements. The pitch angle is 0°-40° (the tilt angle of the common tilting structure on the market is ≤20°). Relying on the cooperation of the high-precision screw rod and the angular contact bearing 416 inside the electric push rod 42, the friction, gap and deformation during the movement are reduced, and the repeated positioning accuracy of the pitch adjustment mechanism can be improved to 0.01°.

[0077] Both ends of the top of the pitch platform support frame 413 are recessed inward to form a positioning groove 418, and the pitch axis 415 extends into the positioning groove 418. A bearing retaining ring 419 is installed on the end of the positioning groove 418 away from the pitch axis 415.

[0078] One end of the pitch platform 40 is installed on the pitch articulated seat 411, and the pitch articulated seat 411 is connected to the pitch platform support frame 413 through the pitch axis 415. When the electric push rod 42 pushes the other end of the pitch platform 40 to rise or fall, the pitch articulated seat 411 rotates along the axial direction of the pitch axis 415.

[0079] The inner ring of the angular contact bearing 416 is tightly attached to the shoulder of the pitch shaft 415 , and the outer ring thereof is pressed by the external thread of the bearing retaining ring 419 , thereby ensuring the long-term operation stability of the pitch adjustment mechanism.

[0080] When the electric push rod 42 returns to the zero position, the pitch platform 40 is in a horizontal state, and an adjustment pad 417 is installed on the bottom surface of the pitch platform support frame 413. The height of the pad is adjusted by grinding to compensate for the installation error in the height direction.

[0081] The structure of the present application is cheap, can achieve a large inclination angle, and has good structural stability.

[0082] Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the description are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-elevation dual-axis camera turntable for locating a target, characterized in that: include: A rotating platform (10), wherein a camera connection frame (20) is disposed at the top of the rotating platform (10), a zoom camera (21) is mounted on the camera connection frame (20), and the rotating platform (10) drives the zoom camera (21) to rotate synchronously via the camera connection frame (20); A pitch adjustment mechanism, the pitch adjustment mechanism being mounted on the bottom surface of the rotating platform (10), and the rotating platform (10) being capable of synchronously pitching according to the pitch adjustment mechanism; A turntable base (30), wherein the pitch adjustment mechanism is installed on the top surface of the turntable base (30).

2. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 1, characterized in that: The rotating platform (10) comprises: A rotating platform (11), wherein the rotating platform (11) is installed on the top surface of the pitch adjustment mechanism; A stepper motor (12), wherein the stepper motor (12) is installed on one side of the rotating platform (11); A rotating table (13) is arranged above the rotating table frame (11) and is driven to rotate by a stepping motor (12).

3. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 2, characterized in that: The bottom end of the rotating table (13) is provided with a worm wheel (14), and the worm wheel (14) is meshedly connected with a worm (15). The worm (15) is rotatably mounted on the rotating table (11), and the input end of the worm (15) is connected to the output end of the stepping motor (12).

4. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 3, characterized in that: The worm (15) is rotatably mounted on a worm support (16), and the worm support (16) is arranged on a side of the rotating platform (11) away from the stepping motor (12).

5. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 4, characterized in that: The rotating table (13) is mounted on a retaining frame (17), and the retaining frame (17) is mounted on a side of the rotating table (11) away from the stepping motor (12). A washer (18) is provided between the retaining frame (17) and the worm gear (14).

6. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 2, characterized in that: One end of the rotating platform (11) is also equipped with a power supply and signal interface (19).

7. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 2, characterized in that: The pitch adjustment mechanism comprises: A pitching platform (40), wherein the rotating platform (11) is installed on the top surface of the pitching platform (40); A pitching frame (41), the top end of which is hinged to one end of the bottom surface of the pitching platform (40), and the pitching frame (41) is installed on one end of the top surface of the turntable base (30); An electric push rod (42), the top end of which is hinged to the other end of the bottom surface of the pitch platform (40); the bottom end of which is hinged to a hinge seat (43), and the hinge seat (43) is installed on the other end of the top surface of the turntable base (30).

8. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 7, characterized in that: The other end of the bottom surface of the pitching platform (40) is symmetrically provided with an energized demagnetizing electromagnet (44), and the two energized demagnetizing electromagnets (44) are respectively arranged on both sides of the electric push rod (42), and the bottom ends of the two energized demagnetizing electromagnets (44) are respectively magnetically attracted to a support frame (45), and the bottom end of the support frame (45) is installed on the turntable base (30).

9. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 8, characterized in that: The pitching platform (41) comprises: A pitch hinge seat (411), the pitch hinge seat (411) being connected to one end of the bottom surface of the pitch platform (40), and a middle portion of the bottom surface of the pitch hinge seat (411) protruding outwards to form a protrusion (412); A pitch platform support frame (413), wherein the middle portion of the top end of the pitch platform support frame (413) is recessed inward to form a groove (414), the protrusion (412) extends into the groove (414), a pitch shaft (415) having an interference fit therewith is inserted into the protrusion (412), two ends of the pitch shaft (415) extend into the groove wall of the groove (414), and the two ends of the pitch shaft (415) are connected to the groove wall of the groove (414) via angular contact ball bearings (416); An adjustment pad (417) is arranged between the pitch platform support frame (413) and the turntable base (30).

10. The high-elevation-angle dual-axis camera turntable for locating a target according to claim 9, characterized in that: Both ends of the top of the pitch platform support frame (413) are recessed inward to form a positioning groove (418), the pitch axis (415) extends into the positioning groove (418), and a bearing retaining ring (419) is installed on the end of the positioning groove (418) away from the pitch axis (415).

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