Two-axis servo platform mechanism

Abstract

The utility model discloses a two-axis servo platform mechanism which comprises a main frame, an azimuth direction assembly and a pitching direction assembly, the azimuth direction assembly comprises an azimuth frame, an azimuth motor shaft and an azimuth angle measurement shaft, and the pitching direction assembly comprises a pitching frame, a pitching motor shaft and a pitching angle measurement shaft; the main frame is arranged on the circumferential outer side of the pitching frame, and the pitching frame is arranged on the circumferential outer side of the azimuth frame; the azimuth frame is respectively connected with an azimuth motor shaft and an azimuth angle measuring shaft, and the azimuth motor shaft and the azimuth angle measuring shaft are respectively connected with the pitching frame through respective corresponding shaft sleeve assemblies and bearing inner pressing rings; the pitching frame is respectively connected with a pitching motor shaft and a pitching angle measuring shaft, and the pitching motor shaft and the pitching angle measuring shaft are respectively connected with the main frame through respective corresponding shaft sleeve assemblies and bearing inner pressing rings. According to the embodiment of the invention, the shaft, the shaft sleeve assembly, the azimuth frame and the pitching frame are designed and matched, azimuth and pitching rotation of the servo mechanism is realized, the structure is simple, and the reliability is high.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical structure and process technology, and particularly relates to a two-axis servo platform mechanism. BACKGROUND

[0002] With the continuous development of mechanical technology and the iteration of technology, servo platforms are widely used in various fields, and are more commonly used in the fields of aerospace, automobiles, industrial robots, etc. Due to the increasing demand for product miniaturization and lightweight, the size of the servo mechanism system is required to be smaller and smaller, but the overall function integrity and reliability need to be ensured. CONTENT OF THE INVENTION

[0003] The embodiment of the application provides a two-axis servo platform mechanism to at least solve the problems of complex mechanical structure and low reliability in the related art.

[0004] The embodiment of the application provides a two-axis servo platform mechanism, which comprises a main frame, an azimuth direction assembly and a pitch direction assembly, the azimuth direction assembly comprises an azimuth frame, an azimuth motor shaft and an azimuth angle measuring shaft, and the pitch direction assembly comprises a pitch frame, a pitch motor shaft and a pitch angle measuring shaft.

[0005] The main frame is arranged on the circumferential outer side of the pitch frame, and the pitch frame is arranged on the circumferential outer side of the azimuth frame.

[0006] The azimuth frame is connected with the azimuth motor shaft and the azimuth angle measuring shaft respectively, and the azimuth motor shaft and the azimuth angle measuring shaft are connected with the pitch frame through the corresponding shaft sleeve assemblies and bearing inner pressure rings respectively.

[0007] The pitch frame is connected with the pitch motor shaft and the pitch angle measuring shaft respectively, and the pitch motor shaft and the pitch angle measuring shaft are connected with the main frame through the corresponding shaft sleeve assemblies and bearing inner pressure rings respectively.

[0008] The two-axis servo platform mechanism of the embodiment of the application is designed and matched through the shaft, the shaft sleeve assembly, the azimuth frame and the pitch frame, the azimuth and pitch rotation of the servo mechanism is realized, and the two-axis servo platform mechanism has the advantages of simple structure, fast assembly, high structural reliability, large stroke range, small volume and the like. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments of the application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without any creative labor.

[0010] Figure 1 is a structural schematic diagram of a two-axis servo platform mechanism provided by the embodiment of the application.

[0011] Figure 2 is a cross-sectional view of a two-axis servo platform mechanism provided by an embodiment of the present application;

[0012] Figure 3 is a structural view of a shaft sleeve assembly of the two-axis servo platform mechanism provided by an embodiment of the present application.

[0013] Reference signs:

[0014] main frame 100, azimuth frame 210, azimuth motor shaft 220, azimuth angle measuring shaft 230, azimuth stop 240, azimuth motor 260, pitch frame 310, pitch motor shaft 320, pitch angle measuring shaft 330, pitch stop 340, counterweight 350, pitch motor 360,

[0015] first shaft sleeve assembly 410, second shaft sleeve assembly 420, third shaft sleeve assembly 430, fourth shaft sleeve assembly 440, bearing sleeve 411, deep groove ball bearing 412, bearing outer pressure ring 413,

[0016] first adjusting gasket 510, second adjusting gasket 520, bearing inner pressure ring 600, sensor 700, magnet 800, sensor adapter plate 900. DETAILED DESCRIPTION

[0017] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the drawings. To make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of the specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0018] It should be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0019] With the continuous development of mechanical technology, iteration of technology, servo platform is widely used in various fields, among which aerospace, automobile, industrial robot and other fields are more commonly used. Due to the increasing demand for product miniaturization and light weight, the size of the servo mechanism system is required to be smaller and smaller, but at the same time, the overall function integrity and reliability can be guaranteed.

[0020] In order to solve the problems in the related art, the embodiments of the present application provide a two-axis servo platform mechanism. The two-axis servo platform mechanism provided by the embodiments of the present application will be described in detail below in combination with the drawings and specific embodiments and application scenarios.

[0021] Figure 1 The structure of a two-axis servo platform mechanism is shown, Figure 2 The cross-sectional view of the two-axis servo platform mechanism is shown. As Figure 1 and Figure 2 shown, the two-axis servo platform mechanism includes a main frame 100, an azimuth direction assembly and an elevation direction assembly, wherein the azimuth direction assembly includes an azimuth frame 210, an azimuth motor shaft 220 and an azimuth angle measuring shaft 230, and the elevation direction assembly includes an elevation frame 310, an elevation motor shaft 320 and an elevation angle measuring shaft 330.

[0022] Specifically, as Figure 1 shown, the main frame 100 is arranged on the circumferential outer side of the elevation frame 310, and the elevation frame 310 is arranged on the circumferential outer side of the azimuth frame 210.

[0023] As Figure 1 and Figure 2 shown, the azimuth frame 210 is connected with the azimuth motor shaft 220 and the azimuth angle measuring shaft 230 respectively, and the azimuth motor shaft 220 and the azimuth angle measuring shaft 230 are connected with the elevation frame 310 through the corresponding shaft sleeve assembly and bearing inner pressure ring 600 respectively; the elevation frame 310 is connected with the elevation motor shaft 320 and the elevation angle measuring shaft 330 respectively, and the elevation motor shaft 320 and the elevation angle measuring shaft 330 are connected with the main frame 100 through the corresponding shaft sleeve assembly and bearing inner pressure ring 600 respectively.

[0024] Optionally, a through hole is arranged on the azimuth frame 210, and the azimuth angle measuring shaft 230 is fixedly installed on the azimuth frame 210 through the thread thereon and the through hole arranged on the azimuth frame 210.

[0025] Optionally, as Figure 2As shown, the outer periphery of the azimuth motor shaft 220 is sleeved with a first shaft sleeve assembly 410, the outer periphery of the azimuth angle measuring shaft 230 is sleeved with a second shaft sleeve assembly 420, the outer periphery of the pitch motor shaft 320 is sleeved with a third shaft sleeve assembly 430, and the outer periphery of the pitch angle measuring shaft 330 is sleeved with a fourth shaft sleeve assembly 440.

[0026] It should be noted that the shaft sleeve assembly structures of the azimuth motor shaft, the azimuth angle measuring shaft, the pitch motor shaft and the pitch angle measuring shaft are all the same. Taking the first shaft sleeve assembly 410 as an example, referring to Figure 3 , it is a structural schematic diagram of the shaft sleeve assembly. As shown in Figure 3 , each shaft sleeve assembly includes a bearing sleeve 411, a deep groove ball bearing 412 and a bearing outer pressure ring 413.

[0027] Further, in some optional embodiments, as shown in Figure 2 , the bottom of the first shaft sleeve assembly 410 is provided with a first adjusting gasket 510, which is used to adjust the axial compression force of the first shaft sleeve assembly 410 to adjust the installation gap between the first shaft sleeve assembly 410 and the second shaft sleeve assembly 420. Correspondingly, the bottom of the third shaft sleeve assembly 430 is provided with a second adjusting gasket 520, which is used to adjust the axial compression force of the third shaft sleeve assembly 430 to adjust the installation gap between the third shaft sleeve assembly 430 and the fourth shaft sleeve assembly 440.

[0028] In this way, by adjusting the adjusting gasket at the bottom of the motor end shaft sleeve assembly, the corresponding axial compression force of the motor end shaft sleeve assembly can be adjusted, and the shaft gap can be reduced or even eliminated. In addition, in the case that the installation gap meets the preset condition (i.e. the gap is very small after adjustment), screws are arranged at both ends of the azimuth motor shaft 220, the azimuth angle measuring shaft 230, the pitch motor shaft 320 and the pitch angle measuring shaft 330 to press the corresponding shaft sleeve assemblies respectively.

[0029] As an optional embodiment, as shown in Figure 2 , bearing inner pressure rings 600 are arranged at both ends of the azimuth motor shaft 220, the azimuth angle measuring shaft 230, the pitch motor shaft 320 and the pitch angle measuring shaft 330 to achieve further fastening.

[0030] In addition, in some embodiments, the two-axis servo platform mechanism further includes an azimuth motor 260 and a pitch motor 360. The azimuth motor 260 is used to drive the azimuth direction assembly to realize the rotational movement of the two-axis servo platform mechanism in the horizontal direction, and the pitch motor 360 is used to drive the pitch direction assembly to realize the rotational movement of the two-axis servo platform mechanism in the vertical plane. In this way, without considering the installation load, a rotation stroke of more than ±40° in the azimuth and pitch directions can be realized.

[0031] In some embodiments, the main frame 100 and the elevation frame 310 are each provided with a motor stator, and the azimuth motor shaft 220 and the elevation motor shaft 320 are respectively fixedly connected with a motor rotor. Specifically, the motor rotor and the two motor shafts can be respectively installed on the azimuth frame 210 and the elevation frame 310 through screws, and the motor stator can be installed on the motor end of the elevation frame 310 and the main frame 100 through screws. It should be noted that, for the motor stator, the wire outlet position corresponding to the installation direction faces outward to facilitate wiring.

[0032] Therefore, the two-axis servo platform mechanism of the embodiments of the present application is a small two-axis adjustable shaft gap servo mechanism. By modularizing the mechanism, designing and cooperating the shaft, the shaft sleeve assembly, the azimuth frame and the elevation frame, the azimuth and elevation rotation of the servo mechanism can be realized. Moreover, by adjusting the gasket of the shaft sleeve assembly, the adjustment of the shaft gap of the mechanism can be realized through the entire shaft sleeve assembly, without the need to specially adjust the shaft, so that the installation and adjustment efficiency is improved while the good installation state is ensured, and therefore the mechanism has the advantage of fast assembly. In addition, the maximum outer contour of the two-axis servo platform mechanism is φ80mm*48.2mm, which can be adapted to most product sizes, and the structure is compact and reliable.

[0033] In addition, in some embodiments, the azimuth frame 210 is internally provided with at least one mounting hole (for example, 4 M3 threaded holes, which are not specifically limited in the present embodiment), which is used for mounting a load. In this way, by reserving a mounting hole position in the middle of the azimuth frame, various loads such as but not limited to optical machines, antenna transmitting devices, etc. can be carried, so that various corresponding functions can be realized, and the application is wide.

[0034] In some embodiments, the two-axis servo platform mechanism further comprises at least two sensors 700. Moreover, at least one magnet 800 is arranged in the groove of the azimuth angle measuring shaft 230 and the elevation angle measuring shaft 330. It should be noted that the sensor 700 corresponds to the magnet 800 one by one. In this way, the sensor 700 can be used to sense the magnetic field change information during the rotation of the magnet 800 to determine the rotation angle of the two-axis servo platform mechanism.

[0035] Optionally, the specific installation method of the magnet 800 is, for example but not limited to, glued and fixed in the circular groove of the azimuth angle measuring shaft 230 or the elevation angle measuring shaft 330, which is not specifically limited in the present embodiment.

[0036] Optionally, the at least two sensors 700 can be magnetoresistive angle displacement sensors.

[0037] Optionally, each sensor 700 is connected with a sensor adapter plate 900, which is used for adapter and positioning installation to ensure the position accuracy of the sensor 900. For the specific installation mode of the sensor 700 and the sensor adapter plate 900, for example but not limited to, the sensor adapter plate 900 is fixed on the corresponding frame by screws, and the sensor 700 is fixed on the sensor adapter plate 900 by screws, and the embodiment does not make specific limitation hereon.

[0038] In some embodiments, the two-axis servo platform mechanism further comprises a pitch stop 340 and an azimuth stop 240 for limiting the rotation angle of the two-axis servo platform mechanism to be less than or equal to a preset angle. Specifically, the setting positions of the pitch stop 340 and the azimuth stop 240 are determined according to the preset angle. In addition, the stop shape can be changed accordingly according to the preset angle, for example, if the downward angle of the stop is changed, the preset angle of the limitation will change accordingly, and the larger the angle, the smaller the maximum angle that can be reached. That is, the specific shape and setting position of the pitch stop 340 and the azimuth stop 240 are determined according to the preset angle, and the preset angle information is matched with the application demand. In this way, taking the preset angles of ±40° corresponding to the azimuth and pitch rotation as an example, in the case of reaching the preset angle, the corresponding frame will hit the pitch stop 340 or the azimuth stop 240 to realize the limitation of further rotation.

[0039] In some embodiments, the two-axis servo platform mechanism further comprises a counterweight 350 for balancing the center of gravity of the two-axis servo platform mechanism. Specifically, the number of counterweights is multiple, and the thickness, weight and specifications of these counterweights can be different or the same. By adding counterweights, the weight in each direction can be configured according to the actual application demand and experience to balance the tooling.

[0040] It can be understood that, in order to obtain the two-axis servo platform mechanism of the embodiment of the present application, the corresponding assembly main sequence is from inside to outside, the innermost part is the azimuth frame 210, the azimuth angle measuring shaft 230 is installed on the side with the through hole of the azimuth frame 210, the shaft thread is aligned with the through hole on the azimuth frame 210, and the screw is fastened, and then the whole is sleeved into the pitch frame 310; further, the azimuth motor shaft 220 is installed, then both axes are sleeved into the corresponding shaft sleeve assemblies, and the axial compression force of the motor end shaft sleeve assembly is adjusted by adjusting the adjusting gasket at the bottom of the motor end shaft sleeve assembly to reduce or eliminate the azimuth direction shaft gap; after adjustment, the corresponding shaft sleeve assemblies are pressed by screws at both ends, and the bearing inner pressing ring 600 is installed at both ends of the shaft to further fasten.

[0041] Further, for the pitch direction assembly, its installation also adopts a similar installation sequence as described above: the pitch angle measuring shaft 330 is installed on the side with a through hole, and the shaft is screwed to align with the through hole on the azimuth frame 210, and then fastened with screws, and then the whole is sleeved into the main frame 100; then, the pitch motor shaft 320 is installed, and both shafts are sleeved into the respective shaft sleeve assemblies, and the appropriate adjusting gaskets are selected to adjust the shaft gap, and the screws are used to press the corresponding shaft sleeve assemblies at both ends, and then the bearing inner pressure ring 600 is installed.

[0042] Further, the motor stator is installed at the corresponding position of the main frame 100 and the pitch frame 310 respectively, and the motor rotor is fixedly connected with the azimuth motor shaft 220 and the pitch motor shaft 320 through screws; the magnet 800 is installed in the circular groove of each angle measuring shaft, and the silicon rubber is used for fixing, further, after the installation of the magnet 800 at both angle measuring ends, the sensor adapter plate 900 and the reluctance angle displacement sensor 700 are installed; finally, the pitch stop 340 and the azimuth stop 240 are installed, and the appropriate counterweight piece 350 is selected to complete the balancing, thus the installation and adjustment are completed, and the two-axis servo platform mechanism provided by the embodiment of the present application is obtained, as shown in Figure 1 The two-axis servo platform mechanism has the advantages of large stroke range, small volume, high structural reliability, controllable system shaft gap, etc.

[0043] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments.

[0044] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "attachment" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of 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.

[0045] In the embodiments of the present application, the same reference signs represent the same components, and for brevity, the detailed description of the same components is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the present application shown in the drawings, and the overall thickness, length and width of the integrated device are only exemplary and should not constitute any limitation on the present application.

[0046] "Multiple" appearing in the present application means two or more (including two).

[0047] Although the present application has been described with reference to preferred embodiments, it is to be understood that various modifications can be made without departing from the scope of the application, and that the scope of the application is not to be interpreted as limited to the particular embodiments disclosed in the specification. Various features of the embodiments described can be combined, substituted, or omitted for any of the various embodiments, as understood by those skilled in the art, without departing from the scope of the application. The application is not limited to the particular embodiments disclosed in the specification, but include all technical solutions falling within the scope of the claims.

[0048] The above description is merely illustrative of the application and is not to be taken in a limiting sense. It is to be understood that various modifications can be made to the application disclosed in the specification without departing from its scope, and that the scope of the application is not to be interpreted as limited to the particular embodiments disclosed in the specification.

Claims

1. A two-axis servo platform mechanism, characterized in that: include: A main frame, an azimuth assembly and a pitch assembly, wherein the azimuth assembly includes an azimuth frame, an azimuth motor shaft, and an azimuth angle measurement shaft, and the pitch assembly includes a pitch frame, a pitch motor shaft, and a pitch angle measurement shaft; The main frame is arranged on the circumferential outer side of the pitch frame, and the pitch frame is arranged on the circumferential outer side of the azimuth frame; The azimuth frame is connected to the azimuth motor shaft and the azimuth angle measurement shaft respectively, and the azimuth motor shaft and the azimuth angle measurement shaft are connected to the pitch frame respectively through their corresponding shaft sleeve assemblies and bearing inner pressure rings; The pitch frame is connected to the pitch motor shaft and the pitch angle measurement shaft respectively. The pitch motor shaft and the pitch angle measurement shaft are connected to the main frame respectively through their corresponding shaft sleeve assemblies and bearing inner pressure rings.

2. The two-axis servo platform mechanism according to claim 1, characterized in that: The outer periphery of the azimuth motor shaft is provided with a first shaft sleeve assembly, the outer periphery of the azimuth angle measurement shaft is provided with a second shaft sleeve assembly, and the bottom of the first shaft sleeve assembly is provided with a first adjustment gasket, which is used to adjust the axial pressing force of the first shaft sleeve assembly to adjust the installation gap between the first shaft sleeve assembly and the second shaft sleeve assembly; The outer sleeve of the pitch motor shaft is provided with a third shaft sleeve assembly, the outer sleeve of the pitch angle measurement shaft is provided with a fourth shaft sleeve assembly, and the bottom of the third shaft sleeve assembly is provided with a second adjustment gasket, which is used to adjust the axial pressing force of the third shaft sleeve assembly to adjust the installation gap between the third shaft sleeve assembly and the fourth shaft sleeve assembly.

3. The two-axis servo platform mechanism according to claim 1, characterized in that: Both ends of the azimuth motor shaft, the azimuth angle measurement shaft, the pitch motor shaft, and the pitch angle measurement shaft are provided with bearing inner pressure rings.

4. The two-axis servo platform mechanism according to claim 1, characterized in that: The azimuth angle measuring shaft is fixedly mounted on the azimuth frame by cooperating with a through hole provided on the azimuth frame through a thread thereon.

5. The two-axis servo platform mechanism according to claim 1, characterized in that: At least one mounting hole is provided inside the orientation frame, and the mounting hole is used for mounting a load.

6. The two-axis servo platform mechanism according to claim 1, characterized in that: The two-axis servo platform mechanism also includes an azimuth motor and a pitch motor; The azimuth motor is used to drive the azimuth direction component to realize the rotational movement of the two-axis servo platform mechanism in the horizontal direction; The pitch motor is used to drive the pitch direction component to realize the rotational movement of the two-axis servo platform mechanism in the vertical plane; The main frame and the pitch frame are both provided with motor stators, and the azimuth motor shaft and the pitch motor shaft are respectively fixedly connected to the motor rotors.

7. The two-axis servo platform mechanism according to claim 6, characterized in that: The two-axis servo platform mechanism further includes at least two sensors, at least one magnet is provided in each groove of the azimuth angle measurement axis and the pitch angle measurement axis, and the sensors correspond to the magnets one by one; The sensor is used to sense magnetic field change information during the rotation of the magnet along the axis on which it is located to determine the rotation angle of the two-axis servo platform mechanism.

8. The two-axis servo platform mechanism according to claim 7, characterized in that: The sensor is a magnetoresistive angular displacement sensor.

9. The two-axis servo platform mechanism according to claim 1, characterized in that: The two-axis servo platform mechanism also includes a pitch stop, an azimuth stop and a counterweight; The pitch stop and the azimuth stop are used to limit the rotation angle of the two-axis servo platform mechanism to be less than or equal to a preset angle, and the setting positions of the pitch stop and the azimuth stop are determined according to the preset angle; The counterweight is used to balance and adjust the center of gravity of the two-axis servo platform mechanism.

10. The two-axis servo platform mechanism according to claim 1, characterized in that: Each shaft sleeve assembly includes a bearing sleeve, a deep groove ball bearing and a bearing outer pressure ring.

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