Automatic inertial navigation system multi-axis movement device

Abstract

The utility model relates to the technical field of fixing tools, and provides an automatic inertial navigation system multi-axis movement device which comprises a trolley, an electric rotary table, an angular position table, an electric controller and a power source, the trolley comprises a trolley frame and a trundle set, and a first installation cavity and a second installation cavity are formed in the trolley frame; the first mounting cavity is positioned above the second mounting cavity; the angular position table is fixedly arranged at the output end of the electric rotary table; the electrical controller is fixedly arranged in the second mounting cavity; and the power supply is fixedly arranged in the first mounting cavity. The fixing direction of the inertial navigation system can be adjusted according to the transfer working condition of the inertial navigation system by arranging the electric rotary table and the angular table, the moving convenience of the inertial navigation system is improved by arranging the trolley, the damage of the power supply to the electrical controller can be reduced by arranging the power supply above the electrical controller, and the safety of the inertial navigation system is improved. Therefore, the normal operation of the device is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of transfer tooling, in particular to a multi-axis motion device for an automatic inertial navigation system. Background Technique

[0002] An automatic inertial navigation system, namely an inertial navigation system, is applied in various moving machines. In order to ensure the quality of the automatic inertial navigation system, a motion device is usually used to transfer it to a detection table for detection.

[0003] The invention patent with the publication number of CN108528492A discloses an inertial navigation system transfer vehicle, which includes a vehicle frame with a rectangular plane structure and a bearing part. The bearing part is fixed on the top of the vehicle frame, and rollers are arranged at the bottom of the vehicle frame. Its characteristics are: the bearing part includes a horizontal tray and an inertial navigation system bearing box, and the inertial navigation system bearing box is arranged on the upper surface of the horizontal tray; it also includes a horizontal adjustment mechanism and a control mechanism. The horizontal adjustment mechanism includes screw rod stepping motors at the four corners of the vehicle frame, and screw rod hanging ears are sleeved on the upper part of each screw rod stepping motor; the control mechanism is arranged at the lower part of the vehicle frame and includes a switch, a voltage stabilizing module, a battery, a single-chip microcomputer, a gyroscope and a screw rod stepping motor driving module. The battery supplies power to other electronic modules of the single-chip microcomputer through the main power switch and after passing through the voltage stabilizing module. It is designed to be light, flexible, practical and easy to use, and has the functions of data acquisition and attitude adjustment.

[0004] In the above technical solution, in order to transfer the inertial navigation system, a vehicle frame, a bearing part, a horizontal adjustment mechanism and a control mechanism are set. In order to ensure the convenience of use of the adjustment mechanism, a power source usually needs to be carried on the device. However, the power source will generate more heat during operation, and this heat will have a certain impact on the control mechanism, which is not conducive to ensuring the normal operation of the device. Content of the Utility Model

[0005] In view of this, the utility model provides a multi-axis motion device for an automatic inertial navigation system, which can reduce the influence of the power source on the electrical controller and ensure the normal use of the device.

[0006] The technical solution of the utility model is realized as follows: The utility model provides a multi-axis motion device for an automatic inertial navigation system, which includes a trolley, an electric turntable, an angular position table, an electrical controller and a power source. Among them,

[0007] The trolley includes a vehicle frame and a caster group. A first installation cavity and a second installation cavity are arranged inside the vehicle frame, and the first installation cavity is located above the second installation cavity; the caster group is fixedly arranged at the bottom side of the vehicle frame;

[0008] The electric turntable is fixedly arranged on the top side of the vehicle frame;

[0009] The angular position table is fixedly arranged at the output end of the electric turntable;

[0010] The electric controller is fixedly arranged in the second installation cavity;

[0011] The power supply is fixedly arranged in the first installation cavity.

[0012] On the basis of the above technical solutions, preferably, the electric controller is located in the middle of the second installation cavity, and the power supply is located at one end of the first installation cavity.

[0013] More preferably, the electric turntable includes a rotating base, a rotating tabletop, a first motor and a transmission assembly. Among them,

[0014] The rotating base is fixedly arranged on the top side of the vehicle frame;

[0015] The rotating tabletop is rotatably arranged on the rotating base and is fixedly connected to the angular position table;

[0016] The first motor is arranged on the rotating base and penetrates to the middle of the first installation cavity;

[0017] The transmission assembly is used to connect the rotating tabletop and the output end of the first motor, so that the rotating tabletop rotates synchronously with the output end of the first motor.

[0018] More preferably, the transmission assembly includes a fixed cylinder, a connecting shaft and a plurality of gears. Among them,

[0019] The fixed cylinder is fixedly arranged between the rotating base and the first motor;

[0020] The connecting shaft is rotatably arranged in the fixed cylinder, and one end of it is coaxially fixed to the output end of the first motor;

[0021] Two of the gears are respectively fixedly arranged at one end of the connecting shaft away from the first motor and on the rotating tabletop, and the two gears are meshed with each other

[0022] More preferably, the output end of the first motor is parallel to the rotating tabletop, and the connecting shaft is a universal flexible shaft connecting rod.

[0023] On the basis of the above technical solutions, preferably, the second installation cavity is located in the middle of the caster group.

[0024] More preferably, the trolley further includes a plurality of fixing rods, and the fixing rods are respectively fixedly arranged in the first installation cavity and the second installation cavity and are respectively abutted against the side walls of the electric controller and the power supply.

[0025] Further preferably, the trolley further includes two handles, anti-collision strips and a spirit level, wherein,

[0026] The two handles are respectively and fixedly arranged at both ends of the frame;

[0027] The anti-collision strips are fixedly arranged on the side of the frame;

[0028] The spirit level is fixedly arranged on the top side of the frame.

[0029] On the basis of the above technical solutions, preferably, the angular position platform includes a chassis, a lead screw, a second motor, a carriage, a fixing plate, a connecting rod and an inclinometer, wherein,

[0030] The chassis is fixedly arranged on the output end of the electric turntable;

[0031] The lead screw is rotatably arranged on the chassis;

[0032] The second motor is fixedly arranged on the chassis, and its output end is coaxially and fixedly connected with the lead screw;

[0033] The carriage is slidably arranged on the chassis and is in threaded engagement with the lead screw;

[0034] The fixing plate is rotatably arranged on the chassis, and its rotation axis is perpendicular to the rotation axis of the output end of the electric turntable;

[0035] Both ends of the connecting rod are respectively rotatably arranged on the carriage and the fixing plate;

[0036] The inclinometer is fixedly arranged on the fixing plate.

[0037] Further preferably, a plurality of mounting holes are provided on the fixing plate.

[0038] The multi-axis motion device of an automated inertial navigation system of the present utility model has the following

[0039] Beneficial effects compared with the prior art:

[0040] (1) By providing the electric turntable and the angular position platform, the fixed orientation can be adjusted according to the transfer working conditions of the inertial navigation system. By providing the trolley, the moving convenience of the inertial navigation system is improved. By arranging the power supply above the electric controller, the damage caused by the power supply to the electric controller can be reduced, thereby ensuring the normal operation of the device;

[0041] (2) By making the output end of the first motor parallel to the rotating table surface, making the first motor penetrate into the first installation cavity, and making the second installation cavity located in the middle of the caster group, the occupied space of each component can be reduced, and the space utilization rate of the device can be improved. Brief Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a three-dimensional view of a multi-axis motion device of an automatic inertial navigation system of the present invention;

[0044] Figure 2 It is a three-dimensional view of a trolley in a multi-axis motion device of an automatic inertial navigation system of the present invention;

[0045] Figure 3 It is a three-dimensional view of an electric turntable in a multi-axis motion device of an automatic inertial navigation system of the present invention;

[0046] Figure 4 It is a cross-sectional view of an electric turntable in a multi-axis motion device of an automatic inertial navigation system of the present invention;

[0047] Figure 5 It is a three-dimensional view of an angular position table in a multi-axis motion device of an automatic inertial navigation system of the present invention;

[0048] Figure 6 It is a front view of an angular position table in a multi-axis motion device of an automatic inertial navigation system of the present invention.

[0049] Wherein: 1. Trolley; 11. Frame; 12. Caster group; 13. Fixed rod; 14. Handle; 15. Anti-collision strip; 16. Level; 101. First installation cavity; 102. Second installation cavity; 2. Electric turntable; 21. Rotating base; 22. Rotating tabletop; 23. First motor; 24. Transmission assembly; 241. Fixed cylinder; 242. Connecting shaft; 243. Gear; 3. Angular position table; 31. Bottom frame; 32. Lead screw; 33. Second motor; 34. Slide carriage; 35. Fixed plate; 36. Link; 37. Inclinometer; 301. Installation hole; 4. Electrical controller; 5. Power supply. Detailed Embodiments

[0050] The following will clearly and completely describe the technical solutions in the present invention in conjunction with the specific embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0051] As Figure 1-6 shown, a multi-axis motion device of an automated inertial navigation system of the present utility model includes a trolley 1, an electric turntable 2, an angular position table 3, an electrical controller 4, and a power supply 5.

[0052] Among them, the trolley 1 is a moving component of this motion device and is used to carry other components. The trolley 1 includes a vehicle frame 11 and a caster group 12. A first installation cavity 101 and a second installation cavity 102 are provided inside the vehicle frame 11. The first installation cavity 101 is located above the second installation cavity 102; the caster group 12 is fixedly arranged on the bottom side of the vehicle frame 11; the caster group 12 includes multiple braked casters, and the rotation of the internal wheels thereof drives the entire device to move, and enables the trolley 1 to maintain moving flexibility.

[0053] The electric turntable 2 is used to drive the inertial navigation system to rotate around the vertical axis, and the electric turntable 2 is fixedly arranged on the top side of the vehicle frame 11.

[0054] The angular position table 3 is used to carry the inertial navigation system and drive it to rotate around the horizontal axis. The angular position table 3 is fixedly arranged on the output end of the electric turntable 2.

[0055] The electrical controller 4 is used to control the driving components of the electric turntable 2 and the angular position table 3. The electrical controller 4 is fixedly arranged in the second installation cavity 102.

[0056] The power supply 5 is used to supply power to the driving components of the electric turntable 2 and the angular position table 3. The power supply 5 is fixedly arranged in the first installation cavity 101, which is located above the electrical controller 4. The heat generated during the operation of the power supply 5 moves upward, avoiding this heat passing through the electrical controller 4 and causing a heating effect on the electrical controller 4, thereby ensuring the normal use of the electrical controller 4 and guaranteeing the safe operation of the entire device.

[0057] In order to increase the distance between the power supply 5 and the electrical controller 4 and enhance the independence of the two electrical devices, it is preferably to place the electrical controller 4 in the middle of the second installation cavity 102 and place the power supply 5 at one end of the first installation cavity 101.

[0058] As Figure 3 shown, the electric turntable 2 includes a rotating base 21, a rotating tabletop 22, a first motor 23, and a transmission assembly 24. The rotating base 21 is fixedly arranged on the top side of the vehicle frame 11; the rotating tabletop 22 is rotatably arranged on the rotating base 21 and is fixedly connected to the angular position table 3; the first motor 23 is arranged on the rotating base 21, as Figure 2As shown, a perforation is provided on the top side of the vehicle frame 11, and the first motor 23 penetrates to the middle inside the first installation cavity 101, thereby improving the space utilization rate of the device; the transmission assembly 24 is used to connect the rotary table 22 and the output end of the first motor 23, so that the rotary table 22 rotates synchronously with the output end of the first motor 23, thereby rotating the angular position table 3.

[0059] As a preferred embodiment, the transmission assembly 24 includes a fixed cylinder 241, a connecting shaft 242 and two gears 243. The fixed cylinder 241 is fixedly arranged between the rotary base 21 and the first motor 23; the connecting shaft 242 is rotatably arranged inside the fixed cylinder 241, and one end thereof is coaxially fixed to the output end of the first motor 23; the two gears 243 are respectively fixedly arranged at one end of the connecting shaft 242 away from the first motor 23 and on the rotary table 22, and the two gears 243 are meshed with each other; when the first motor 23 is started, by using the meshing of the two gears 243 and the rotation of the connecting shaft 242, the rotary table 22 can be driven to rotate.

[0060] In order to reduce the occupied space of the electric turntable 2, as Figure 4 shown, it is preferred that the output end of the first motor 23 is parallel to the rotary table 22. Correspondingly, the connecting shaft 242 is selected as a universal flexible shaft connecting rod.

[0061] The second installation cavity 102 is located in the middle of the caster wheel group 12. The caster wheel group 12 includes four caster wheels with brakes arranged in a rectangular arrangement. The second installation cavity 102 is located in the middle of the four caster wheels with brakes, thereby improving its space utilization rate.

[0062] As Figure 2 shown, the trolley 1 further includes a plurality of fixing rods 13, two handles 14, a bumper strip 15 and a level 16. The fixing rods 13 are respectively fixedly arranged in the first installation cavity 101 and the second installation cavity 102, and are respectively abutted against the side walls of the electrical controller 4 and the power supply 5, thereby strengthening the fixing firmness of the electrical controller 4 and the power supply 5 and preventing them from shaking; the two handles 14 are respectively fixedly arranged at both ends of the vehicle frame 11, and an operator can respectively push the two handles 14 to move the vehicle frame 11; the bumper strip 15 is fixedly arranged on the side of the vehicle frame 11 and encloses a circle to reduce the damage caused when the vehicle frame 11 collides with other objects; the level 16 is fixedly arranged on the top side of the vehicle frame 11 and is used to monitor in real time whether the vehicle frame 11 maintains a horizontal state.

[0063] As Figure 5 and Figure 6As shown in the figure, the angular position table 3 includes a chassis 31, a lead screw 32, a second motor 33, a carriage 34, a fixing plate 35, a connecting rod 36 and an inclinometer 37. The chassis 31 is fixedly arranged on the output end of the electric turntable 2; the lead screw 32 is rotatably arranged on the chassis 31; the second motor 33 is fixedly arranged on the chassis 31, and its output end is coaxially and fixedly connected with the lead screw 32; the carriage 34 is slidably arranged on the chassis 31 and is connected with the lead screw 32 through a threaded fit; the fixing plate 35 is rotatably arranged on the chassis 31, and its rotation axis is perpendicular to the rotation axis of the output end of the electric turntable 2; both ends of the connecting rod 36 are rotatably arranged on the carriage 34 and the fixing plate 35 respectively; when the second motor 33 is started, its output end drives the lead screw 32 to rotate, thereby driving the carriage 34 and the connecting rod 36 to move, so as to drive the fixing plate 35 to rotate on the chassis 31 and adjust the inclination angle of the fixing plate 35; the inclinometer 37 is fixedly arranged on the fixing plate 35, so as to monitor the inclination angle of the fixing plate 35 in real time.

[0064] In order to enable the fixing plate 35 to fix different types of inertial navigation systems, it is preferably provided with a plurality of mounting holes 301 on the fixing plate 35.

[0065] The usage method of an automated inertial navigation system multi-axis motion device of the present invention is as follows:

[0066] First, place the inertial navigation system on the fixing plate 35 and fixedly connect it to some of the mounting holes 301. Then, by driving the second motor 33 and the first motor 23, adjust the inertial navigation system to the specified position or angle. Next, use the trolley 1 to move the inertial navigation system to the detection station. Finally, by driving the second motor 33 and the first motor 23, flip the inertial navigation system to achieve the full-range detection of the inertial navigation system.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated inertial navigation system multi-axis motion device, characterized in that: It includes a trolley (1), an electric turntable (2), an angular position table (3), an electric controller (4) and a power supply (5). Among them, the trolley (1) includes a frame (11) and a caster set (12). A first installation cavity (101) and a second installation cavity (102) are provided inside the frame (11), and the first installation cavity (101) is located above the second installation cavity (102); the caster set (12) is fixedly arranged on the bottom side of the frame (11); the electric turntable (2) is fixedly arranged on the top side of the frame (11); the angular position table (3) is fixedly arranged on the output end of the electric turntable (2); the electric controller (4) is fixedly arranged inside the second installation cavity (102); the power supply (5) is fixedly arranged inside the first installation cavity (101).

2. The multi-axis motion device of an automated inertial navigation system according to claim 1, wherein: The electric controller (4) is located in the middle inside the second installation cavity (102), and the power supply (5) is located at one end inside the first installation cavity (101).

3. The multi-axis motion device of an automated inertial navigation system according to claim 2, wherein: The electric turntable (2) includes a rotating base (21), a rotating tabletop (22), a first motor (23) and a transmission component (24). Among them, the rotating base (21) is fixedly arranged on the top side of the frame (11); the rotating tabletop (22) is rotatably arranged on the rotating base (21) and is fixedly connected to the angular position table (3); the first motor (23) is arranged on the rotating base (21) and penetrates to the middle inside the first installation cavity (101); the transmission component (24) is used to connect the rotating tabletop (22) and the output end of the first motor (23) to make the rotating tabletop (22) rotate synchronously with the output end of the first motor (23).

4. The multi-axis motion device of an automated inertial navigation system according to claim 3, wherein: The transmission component (24) includes a fixed cylinder (241), a connecting shaft (242) and two gears (243). Among them, the fixed cylinder (241) is fixedly arranged between the rotating base (21) and the first motor (23); the connecting shaft (242) is rotatably arranged inside the fixed cylinder (241), and one end of it is coaxially fixed to the output end of the first motor (23); the two gears (243) are respectively fixedly arranged at one end of the connecting shaft (242) far from the first motor (23) and on the rotating tabletop (22), and the two gears (243) are meshed with each other.

5. An automated inertial navigation system multi-axis motion device according to claim 4, characterized in that: The output end of the first motor (23) is parallel to the rotating tabletop (22), and the connecting shaft (242) is a universal flexible shaft connecting rod.

6. An automated inertial navigation system multi-axis motion device according to claim 1, characterized in that: The second installation cavity (102) is located in the middle of the caster set (12).

7. The multi-axis motion device of an automated inertial navigation system according to claim 6, wherein: The trolley (1) further includes a plurality of fixing rods (13), and the fixing rods (13) are respectively fixedly arranged inside the first installation cavity (101) and the second installation cavity (102) and are respectively abutted against the side walls of the electric controller (4) and the power supply (5).

8. An automated inertial navigation system multi-axis motion device according to claim 7, characterized in that: The trolley (1) further includes two handles (14), a bumper strip (15) and a spirit level (16). Among them, the two handles (14) are respectively fixedly arranged at both ends of the frame (11); The anti-collision strip (15) is fixedly arranged on the side of the vehicle frame (11); The level (16) is fixedly arranged on the top side of the vehicle frame (11).

9. The multi-axis motion device of an automated inertial navigation system according to claim 1, characterized in that: The corner position table (3) comprises a chassis (31), a lead screw (32), a second motor (33), a carriage (34), a fixing plate (35), a connecting rod (36) and an inclinometer (37), wherein, The chassis (31) is fixedly arranged on the output end of the electric turntable (2); The lead screw (32) is rotatably arranged on the chassis (31); The second motor (33) is fixedly arranged on the chassis (31), and its output end is fixedly connected with the lead screw (32) coaxially; The carriage (34) is slidably arranged on the chassis (31) and is connected with the lead screw (32) through a threaded fit; The fixing plate (35) is rotatably arranged on the chassis (31), and its rotation axis is perpendicular to the rotation axis of the output end of the electric turntable (2); Both ends of the connecting rod (36) are rotatably arranged on the carriage (34) and the fixing plate (35); The inclinometer (37) is fixedly arranged on the fixing plate (35).

10. An automated inertial navigation system multi-axis motion device according to claim 9, characterized in that: A plurality of mounting holes (301) are provided on the fixing plate (35).

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