Tandem type stabilized platform

Abstract

The utility model provides a tandem type stabilized platform. The tandem type stabilized platform comprises an installation base assembly, a load supporting platform, a transverse driving assembly, a longitudinal driving assembly, a transverse rotation limiting device, a longitudinal rotation limiting device, a tilt angle sensor and a control box. A transmission box body in the transverse driving assembly is rotationally installed on the installation base assembly through flange shafts oppositely arranged on the two sides, and the problem that the two driving assemblies need to be vertically arranged to avoid interference due to the fact that driving shafts are perpendicular to each other is solved. Meanwhile, the transverse rotation limiting device and the longitudinal rotation limiting device are arranged to limit the maximum rotation displacement of the load supporting platform in the X direction and the Y direction respectively, and the movement safety of the mechanism is improved. According to the series connection type stable platform, the platform posture adjusting difficulty can be lowered, the movement safety of the supporting platform is improved, it is ensured that the load supporting platform is parallel to the horizontal plane, and ship-borne loads are horizontally and stably supported.

Description

TECHNICAL FIELD

[0001] The utility model relates to shipboard radar erection technical field, concretely is a series connection type stable platform. BACKGROUND

[0002] Ship is susceptible to sea wave and other external factors during navigation and leads to hull shaking, so that shipboard radar and other loads cannot keep stable, resulting in reduced working performance. The stable platform is a device applied to this, which can collect real-time attitude change information, operate servo motor to make timely and accurate compensation, ensure that the relative position of the load carrier in space does not change, and then keep stable, thereby meeting the needs of keeping the rotation axis perpendicular to the horizontal plane during the azimuth rotation of the radar array.

[0003] The existing stable platform usually controls the longitudinal driving assembly and the transverse driving assembly to adjust the action of the load platform according to the information obtained by the inertial measurement member. The longitudinal driving assembly and the transverse driving assembly adopt an up-down stacked structure to ensure that the two driving shafts do not interfere with each other in structure. However, the stacking of the longitudinal driving assembly and the transverse driving assembly increases the installation height of the load support platform, increases the installation distance of the load support platform and the ship, and increases the attitude adjustment difficulty.

[0004] At the same time, the existing stable platform does not configure an installation device to ensure the safety of longitudinal and transverse motion. If the longitudinal and transverse motion exceeds the limited angle, it is easy to cause motor overload and damage, and mechanical damage of the swing part of the driving assembly, thereby affecting the attitude adjustment effect of the stable platform and having an unpredictable impact on the navigation of the ship.

[0005] Based on the above problems, a series connection type stable platform is needed to reduce the installation distance of the load support platform and the ship, reduce the platform attitude adjustment difficulty, improve the motion safety of the support platform, and ensure that the load support platform is always parallel to the horizontal plane to stably support the shipboard load in real time. UTILITY MODEL CONTENTS

[0006] The utility model provides a series connection type stable platform, which can reduce the platform attitude adjustment difficulty, improve the motion safety of the support platform, and ensure that the load support platform is parallel to the horizontal plane to stably support the shipboard load horizontally.

[0007] To achieve the above technical purposes and effects, the utility model solves the above problems by the following technical scheme:

[0008] A series type stable platform, comprising a mounting base assembly, a load support platform, and a transverse driving assembly and a longitudinal driving assembly for driving the load support platform to deflect in X direction and Y direction respectively, the transverse driving assembly is mounted on the mounting base assembly and comprises a transmission box body rotatably connected to the mounting base assembly through two flange shafts oppositely arranged, one of the flange shafts is keyed to a transverse driving reducer, and an input end of the transverse driving reducer is connected to a transverse servo driving motor; the transverse driving assembly is provided with a transverse rotation limiting device for limiting the maximum rotation angle of the transverse driving assembly in the X direction, which comprises two front and rear transverse limiting blocks mounted on the bottom of the transmission box body along the X axis, and two front and rear transverse limiting blocks mounted on the inner wall of the mounting base assembly and corresponding to the transverse rotation limiting angle of the transverse limiting blocks, and a transverse electrical limiting switch is arranged on the transverse limiting block;

[0009] The longitudinal driving assembly is mounted on the transmission box body and comprises a transmission shaft rotatably mounted in the box body and perpendicular to the flange shaft, a longitudinal servo driving motor, a longitudinal driving reducer, and the transmission shaft connected in sequence to transmit power; a swing block is fixedly connected to the transmission shaft, and the load support platform is mounted on the top end of the swing block; the longitudinal driving assembly is provided with a longitudinal rotation limiting device for limiting the maximum rotation angle of the longitudinal driving assembly in the Y direction, which comprises two longitudinal limiting blocks mounted on the bottom of the transmission box body and located on both sides of the swing block, and a limiting inclined surface corresponding to the rotation limiting angle of the swing block is arranged on the longitudinal limiting block, and a longitudinal electrical limiting switch is arranged on the limiting inclined surface; an inclination sensor is arranged on the bottom of the load support platform; a control box is mounted in the mounting base assembly, and a gyroscope is arranged in the control box.

[0010] Further, the mounting base assembly comprises a mounting plate, two support seats symmetrically mounted on the mounting plate, and a support lug fixedly connected to the support seat; the two flange shafts of the transverse driving assembly are rotatably mounted on the two support lugs respectively, and the transmission box body is located between the two support lugs; the control box is fixed to the top surface of the mounting plate.

[0011] Further, the transverse driving assembly further comprises a transverse bearing, a lip-shaped sealing ring I, and a transverse bearing inner end cover, the flange shaft is rotatably connected to the mounting base assembly through the transverse bearing, and the lip-shaped sealing ring I is mounted between the transverse bearing inner end cover and the flange shaft to dynamically seal the bearing.

[0012] Further, the longitudinal driving assembly further comprises a longitudinal bearing, a lip-shaped sealing ring II, a longitudinal bearing inner end cover, and an adjusting gasket; the transmission shaft is rotatably connected to the transmission box body through the longitudinal bearing, the lip-shaped sealing ring II is mounted between the longitudinal bearing inner end cover and the transmission shaft to dynamically seal the bearing, and the adjusting gasket is assembled to the outer end of the longitudinal bearing to pre-tighten the longitudinal bearing.

[0013] Further, the transmission shaft is provided with a limiting step matched with the swing block, and the matched end face is locked by the screws arranged along the circumference, and the load support platform is fixed to the top of the swing block by the screws.

[0014] The utility model discloses the advantages and effects are:

[0015] 1, the series type stable platform of the scheme, the flange shaft of two symmetrical settings is replaced traditional long axle structure to the horizontal drive subassembly, has overcome the horizontal drive subassembly, longitudinal drive subassembly because two drive shafts vertical setting, need to add up to avoid the problem of interference, this structure improvement can effectively reduce the installation height of load support platform and reduce the weight of mechanism, guarantee load support platform parallel to the horizontal plane.

[0016] 2, the scheme sets up horizontal rotation limiting device, longitudinal rotation limiting device respectively to the maximum rotation displacement of load support platform X, Y direction is limited, and the collocation of limiting block and limiting switch can guarantee the motion safety of mechanism in the rotation direction fully.

[0017] 3, the inclination sensor of the scheme is installed on the back of load support platform, can real -time accurate monitoring load support platform actual deflection angle.Combination the structure advantage of low installation height of load support platform in the case, the installation distance between inclination sensor and installation base plate (swing source) is small, can obtain higher system stable precision.

[0018] The gyroscope is located in the control box, and the control box is installed on the installation base plate closest to the swing source, and the gyroscope can quickly detect the information feedback of the swing source angular velocity change to the main control board when the swing occurs.

[0019] The scheme adopts the double sensor detection of the gyroscope and the inclination sensor, and the deflection angle of the load support platform and the angular velocity change of the swing source are monitored in real time, so that the system has sufficient response speed and good stability. DETAILED DESCRIPTION

[0020] Figure 1 It is the front view of the utility model;

[0021] Figure 2 It is the left view of the utility model;

[0022] Figure 3 It is the plan view of the utility model;

[0023] Figure 4 It is the section view along Figure 3 Line A-A;

[0024] Figure 5 It is the section view along Figure 3 Line B-B;

[0025] Figure 6 The schematic diagram of the internal components of the control box is shown in Figure 1.

[0026] Figure 7 The block diagram of the control module is shown in Figure 2.

[0027] Figure number identification:

[0028] 1, mounting base assembly, 11, mounting base plate, 12, support seat, 13, support lug, 2, load support platform;

[0029] 3, transverse drive assembly, 31, flange shaft, 32, transmission box, 33, transverse drive reducer, 34, transverse servo drive motor, 35, transverse bearing, 36, lip seal ring I, 37, transverse bearing inner end cover;

[0030] 4, longitudinal drive assembly, 41, transmission shaft, 42, longitudinal drive reducer, 43, longitudinal servo drive motor, 44, swing block, 45, longitudinal bearing, 46, lip seal ring II, 47, longitudinal bearing inner end cover, 48, adjusting washer;

[0031] 5, transverse rotation limiting device, 51, transverse limiting block, 52, transverse limiting block, 53, transverse electrical limiting switch, 6, longitudinal rotation limiting device, 61, longitudinal limiting block, 62, longitudinal electrical limiting switch, 7, inclination sensor;

[0032] 8, control box, 81, gyroscope, 82, main control board, 83, transverse servo motor driver, 84, longitudinal servo motor driver, 85, power supply module I, 86, power supply module II, 87, power supply. DETAILED DESCRIPTION

[0033] The utility model will be further described below in combination with embodiments, but the utility model is not limited to these embodiments.

[0034] The series type stable platform described in this embodiment is shown in Figure 1, which comprises a mounting base assembly 1, a load support platform 2, a transverse drive assembly 3, a longitudinal drive assembly 4, a transverse rotation limiting device 5, a longitudinal rotation limiting device 6, an inclination sensor 7 and a control box 8. Figure 1 2 The mounting base assembly 1 is used to support and fix the whole mechanism on a swing member (ship), the transverse drive assembly 3 is used to drive the load support platform 2 to swing in the X direction, the longitudinal drive assembly 4 is used to drive the load support platform 2 to swing in the Y direction, and the X and Y directions are shown by arrows in Figure 1. Figure 3

[0035] The series type stable platform described in this embodiment is shown in Figure 1, which comprises a mounting base assembly 1, a load support platform 2, a transverse drive assembly 3, a longitudinal drive assembly 4, a transverse rotation limiting device 5, a longitudinal rotation limiting device 6, an inclination sensor 7 and a control box 8. Figure 1 2 ​​​As shown, the mounting base assembly 1 includes a mounting base plate 11, a support seat 12, and a support lug 13. The support seat 12 is two, opposite to the mounting base plate 11, and the mounting base plate 11 is provided with a groove corresponding to the bottom of the support seat 12 for positioning, and is fixed by a screw.

[0036] As shown in the accompanying drawings, Figure 4 , As shown in the accompanying drawings, 5 the lateral drive assembly 3 is mounted on the mounting base assembly 1, including a flange shaft 31, a transmission box 32, a lateral drive reducer 33, a lateral servo drive motor 34, a lateral bearing 35, a lip seal ring I 36, and a bearing inner end cover 37. Two flange shafts 31 are symmetrically fixed to the sides of the transmission box 32 by screws, the flange shaft 31 is rotatably connected to the support lug 13 through the lateral bearing 35, and the transmission box 32 is located between the two support lugs 13. The lateral bearing inner end cover 37 is installed on the inner side of the support lug 13 by a screw to limit the lateral bearing 35, and the lip seal ring I 36 is arranged between the lateral bearing inner end cover 37 and the flange shaft 31 to seal the bearing chamber. The lateral drive reducer 33 is fixed to the outer side of the support lug 13 and is connected to one of the flange shafts 31 by a key. The lateral servo drive motor 34 is locked with the lateral drive reducer 33 by a clamp, and the power is transmitted from the lateral servo drive motor 34 to the lateral drive reducer 33 and the flange shaft 31 in sequence.

[0037] The lateral rotation limiting device 5 is used to limit the rotation of the lateral drive assembly 3 in the lateral (X-axis) direction, and includes two front and rear lateral limiting blocks 51 mounted on the bottom of the transmission box 32 in the Y-axis direction, and two front and rear lateral limiting blocks 52 mounted on the inner wall of the support seat 12 corresponding to the lateral rotation limiting angle of the lateral limiting blocks 51, and a lateral electrical limiting switch 53 is arranged on the lateral limiting block 52. The lateral limiting block 52 and the lateral electrical limiting switch 53 are used in cooperation to achieve the purpose of limiting in the X-axis rotation direction, as shown in the accompanying drawings Figure 4 , 5 .

[0038] As shown in the accompanying drawings, Figure 4 , 5As shown, the longitudinal driving assembly 4 is mounted on the transmission box 32, including a transmission shaft 41, a longitudinal driving reducer 42, a longitudinal servo driving motor 43, a swing block 44, a longitudinal bearing 45, a lip-shaped sealing ring II 46, a longitudinal bearing inner end cover 47, and an adjusting gasket 48. The transmission shaft 41 is rotatably mounted in the transmission box 32 through the longitudinal bearing 45 at both ends, and the transmission shaft 41 is perpendicular to the flange shaft 31 and has the same installation height. The longitudinal servo driving motor 43, the longitudinal driving reducer 42, and the transmission shaft 41 are sequentially connected to transmit power, the longitudinal servo driving motor 43 is locked by a hoop with the longitudinal driving reducer 42, and the longitudinal driving reducer 42 is fixedly connected to the outer wall of the transmission box 32 by screws. The longitudinal bearing inner end cover 47 is mounted on the inner wall of the transmission box 32 by screws to limit the longitudinal bearing 45, and the lip-shaped sealing ring II 46 is arranged between the longitudinal bearing inner end cover 47 and the transmission shaft 41 to seal the bearing chamber. The adjusting gasket 48 is assembled between the outer end of the longitudinal bearing 45 and the transmission box 32 to pre-tighten the longitudinal bearing 45, eliminate manufacturing and assembly errors, and adjust the gasket 48 which can be arranged in an axial arrangement.

[0039] The swing block 44 is fixedly connected to the transmission shaft 41, the transmission shaft 41 is provided with a limiting step matched with the swing block 44 for installation, the matched end face is locked by screws arranged along the circumference, and the load supporting platform 2 is mounted on the top of the swing block 44 by screws. The load supporting platform 2 is provided with an inclination sensor 7 at the bottom, and the inclination sensor 7 is used to detect the actual inclination angle of the load supporting platform 2, including the X-direction inclination and the Y-direction inclination.

[0040] The longitudinal rotation limiting device 6 is used to limit the rotation of the longitudinal driving assembly 4 in the longitudinal (Y-axis) direction, and the longitudinal rotation limiting device 6 includes two longitudinal limiting blocks 61 mounted on the inner bottom of the transmission box 32 and located on both sides of the swing block 44. The longitudinal limiting block 61 is provided with a limiting inclined surface corresponding to the rotation limiting angle of the swing block 44, and the limiting inclined surface is provided with a longitudinal electrical limiting switch 62. The longitudinal limiting block 61 is used in cooperation with the longitudinal electrical limiting switch 62 to achieve the purpose of limiting in the Y-axis rotation direction.

[0041] As shown in FIG. 2, the longitudinal driving assembly 4 is mounted on the transmission box 32, and the longitudinal driving assembly 4 includes a transmission shaft 41, a longitudinal driving reducer 42, a longitudinal servo driving motor 43, a swing block 44, a longitudinal bearing 45, a lip-shaped sealing ring II 46, a longitudinal bearing inner end cover 47, and an adjusting gasket 48. The transmission shaft 41 is rotatably mounted in the transmission box 32 through the longitudinal bearing 45 at both ends, and the transmission shaft 41 is perpendicular to the flange shaft 31 and has the same installation height. The longitudinal servo driving motor 43, the longitudinal driving reducer 42, and the transmission shaft 41 are sequentially connected to transmit power, the longitudinal servo driving motor 43 is locked by a hoop with the longitudinal driving reducer 42, and the longitudinal driving reducer 42 is fixedly connected to the outer wall of the transmission box 32 by screws. The longitudinal bearing inner end cover 47 is mounted on the inner wall of the transmission box 32 by screws to limit the longitudinal bearing 45, and the lip-shaped sealing ring II 46 is arranged between the longitudinal bearing inner end cover 47 and the transmission shaft 41 to seal the bearing chamber. The adjusting gasket 48 is assembled between the outer end of the longitudinal bearing 45 and the transmission box 32 to pre-tighten the longitudinal bearing 45, eliminate manufacturing and assembly errors, and adjust the gasket 48 which can be arranged in an axial arrangement. Figures 4-7As shown, the control box 8 is fixed on the upper part of the installation base plate 11 in the installation base assembly 1, and the control box 8 includes a gyroscope 81, a main control board 82, a transverse servo motor driver 83, a longitudinal servo motor driver 84, a 24VDC-to-24VDC power supply module I 85 (for powering the tilt angle sensor 7), a 24VDC-to-5VDC power supply module II 86 (for powering the gyroscope 81), and a 220VAC-to-24VDC power supply 87. The gyroscope 81 is connected to the main control board 82 to detect the actual yaw angular velocity of the installation base assembly 1, including the X-direction yaw angular velocity and the Y-direction yaw angular velocity. The control box 8 can obtain the angle information of the sensors (including the tilt angle sensor 7 and the gyroscope 81) and control the servo drive motors of the transverse drive assembly 3 and the longitudinal drive assembly 4 to move, so that the load support platform 2 is always parallel to the horizontal plane.

[0042] In the embodiment, the transverse bearing 35 and the longitudinal bearing 45 are deep groove ball bearings. The transverse servo drive motor 34, the longitudinal servo drive motor 43, the transverse electrical limit switch 53, the longitudinal electrical limit switch 62, and the tilt angle sensor 7 are connected to the control box 8. The entire device is controlled by the control box 8. Since the control box 8 is matched with commonly used devices, which belong to existing mature technologies, the electrical connection relationship and the specific circuit structure are not described here.

[0043] When the series type stabilizing platform described in the embodiment is used:

[0044] 1. When the gyroscope 81 only detects that there is an angular velocity change in the transverse direction, the transverse drive assembly 3 works, the transverse servo drive motor 34 runs at an opposite transverse angular velocity, and the flange shaft 31 is rotated through the transverse drive reducer 33 to increase the torque, and the transmission box 32 is rotated by the flange shaft 31. The longitudinal drive assembly 4 is installed on the transmission box 32, and the transmission box 32 rotates to drive the longitudinal drive assembly 4 to rotate, and then drives the load support platform 2 connected with the longitudinal drive assembly 4 to move. The transverse drive assembly 3 and the longitudinal drive assembly 4 constitute a series type movement relationship. During the movement, the tilt angle sensor 7 continuously collects the angle information in the transverse direction, and the transverse servo drive motor 34 continuously runs until the tilt angle sensor 7 detects that the transverse angle is zero, so that the load support platform 2 is parallel to the horizontal plane.

[0045] 2. When the gyroscope 81 only detects that there is an angular velocity change in the longitudinal direction, the longitudinal servo drive motor 43 will move at an opposite longitudinal angular velocity, the transmission shaft 41 is rotated through the longitudinal drive reducer 42 to increase the torque, and the load support platform 2 is moved. During the movement, the tilt angle sensor 7 continuously collects the longitudinal angle information of the load support platform 2, and the longitudinal servo drive motor 43 continuously runs until the tilt angle sensor 7 detects that the longitudinal angle is zero, so that the load support platform 2 is parallel to the horizontal plane.

[0046] 3. When the angular velocity and angular change of the lateral direction and longitudinal direction appear simultaneously, the above-mentioned work runs simultaneously, the lateral driving assembly 3 and the longitudinal driving assembly 4 act in concert, the lateral servo driving motor 34 and the longitudinal servo driving motor 43 perform respective corresponding movements, so that the load support platform 2 is parallel to the horizontal plane.

[0047] When the system control appears error or the mechanism deflection angle exceeds the set range, the lateral electrical limit switch 53 detects the lateral limit block 51 and the longitudinal electrical limit switch 62 detects the swing block 44, the electrical limit switch functions, and the corresponding driving motor stops moving. If the limit switch fails, in the lateral direction, the lateral limit block 51 will hit the lateral limit block 52, and the lateral servo driving motor 34 will report overload and stop. In the longitudinal direction, the swing block 44 will hit the longitudinal limit block 61, and the longitudinal servo driving motor 43 will report overload and stop.

[0048] The embodiments of the utility model are described in detail in combination with the drawings, but the utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and modifications of these embodiments without departing from the principles and spirits of the utility model still fall within the protection scope of the utility model.

Claims

1. A series type stable platform, comprising a mounting base assembly (1), a load support platform (2), and a transverse drive assembly (3) and a longitudinal drive assembly (4) respectively driving the load support platform (2) to swing in X direction and Y direction, characterized in that: the transverse drive assembly (3) is mounted on the mounting base assembly (1) and comprises a transmission box (32) rotatably connected to the mounting base assembly (1) through two flange shafts (31) oppositely arranged, one of which is keyed to a transverse drive reducer (33), and the input end of the transverse drive reducer (33) is connected to a transverse servo drive motor (34); the transverse drive assembly (3) is provided with a transverse rotation limiting device (5) for limiting the maximum rotation angle in X direction, which comprises two front and rear transverse limiting blocks (51) mounted on the bottom of the transmission box (32) along Y axis, and two front and rear transverse limiting blocks (52) mounted on the inner wall of the mounting base assembly (1) corresponding to the transverse rotation limiting angle of the transverse limiting blocks (51), and a transverse electrical limiting switch (53) is arranged on the transverse limiting blocks (52); the longitudinal drive assembly (4) is mounted on the transmission box (32) and comprises a transmission shaft (41) rotatably mounted in the box perpendicular to the flange shaft (31), a longitudinal servo drive motor (43), a longitudinal drive reducer (42), and the transmission shaft (41) connected in sequence to transmit power; a swing block (44) is fixed to the transmission shaft (41), and the load support platform (2) is mounted on the top end of the swing block (44); the longitudinal drive assembly (4) is provided with a longitudinal rotation limiting device (6) for limiting the maximum rotation angle in Y direction, which comprises two longitudinal limiting blocks (61) mounted on both sides of the swing block (44) at the bottom of the transmission box (32), and the longitudinal limiting blocks (61) are provided with limiting inclined surfaces corresponding to the rotation limiting angle of the swing block (44), and a longitudinal electrical limiting switch (62) is arranged on the limiting inclined surfaces; an inclination sensor (7) is arranged at the bottom of the load support platform (2); a control box (8) is mounted in the mounting base assembly (1), and a gyroscope (81) is arranged in the control box (8).

2. A series-connected stabilized platform according to claim 1, characterized in that: the mounting base assembly (1) comprises a mounting base plate (11), two support seats (12) symmetrically mounted on the mounting base plate (11), and support lugs (13) fixed to the support seats (12); the two flange shafts (31) of the transverse drive assembly (3) are rotatably mounted on the two support lugs (13), and the transmission box (32) is located between the two support lugs (13); the control box (8) is fixed to the top surface of the mounting base plate (11).

3. A series-stabilized platform according to claim 1, characterized in that: the transverse drive assembly (3) further comprises a transverse bearing (35), a lip seal ring I (36), and a transverse bearing inner end cover (37), the flange shaft (31) is rotatably connected to the mounting base assembly (1) through the transverse bearing (35), and the lip seal ring I (36) is mounted between the transverse bearing inner end cover (37) and the flange shaft (31) to dynamically seal the bearing.

4. The series-connected stabilized platform according to claim 1, characterized in that: The longitudinal driving assembly (4) further comprises a longitudinal bearing (45), a lip seal II (46), a longitudinal bearing inner end cover (47), and an adjusting gasket (48); The transmission shaft (41) is rotatably connected to the transmission box (32) through the longitudinal bearing (45), the lip seal II (46) is installed between the longitudinal bearing inner end cover (47) and the transmission shaft (41) to dynamically seal the bearing, and the adjusting gasket (48) is assembled to the outer end of the longitudinal bearing (45) to pre-tighten the longitudinal bearing (45).

5. A series-connected stabilized platform according to claim 1, characterized in that: The transmission shaft (41) is provided with a limiting step cooperatively installed with the swing block (44), the matching end face is locked through the screws arranged along the circumference, and the load support platform (2) is fixed to the top of the swing block (44) through the screws.

6. A series-connected stabilised platform according to any one of claims 1 to 5, characterised in that: The mounting height of the flange shaft (31) and the transmission shaft (41) is the same, and the flange shaft (31) and the transmission shaft (41) are located at the same horizontal plane when being static.

Images