Vehicle-mounted and ship-borne radar two-dimensional turntable with self-stabilizing function

Abstract

The utility model belongs to the technical field of vehicle-mounted and ship-borne radar rotary tables, and particularly relates to a vehicle-mounted and ship-borne radar two-dimensional rotary table with a self-stabilizing function. According to the technical scheme, the vehicle-mounted and ship-borne radar two-dimensional rotary table with the self-stabilizing function comprises a base, an orientation rotary table is installed on the base, a pitching rotary table is installed at the output end of the orientation rotary table, a radar is installed at the output end of the pitching rotary table, and an orientation lock used for locking the output end of the orientation rotary table is installed on the base. A pitching lock used for locking the radar is installed at the fixed end of the pitching rotary table, and an inertial measurement unit is installed on the base. The utility model provides a vehicle-mounted and ship-borne radar two-dimensional turntable with a self-stabilizing function.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of vehicle-mounted and ship-mounted radar rotary table, especially relates to a vehicle-mounted and ship-mounted radar two-dimensional rotary table with self-stabilizing function. BACKGROUND

[0002] In the field of vehicle-mounted and ship-mounted technology, the radar rotary table is an indispensable equipment with functions of searching, positioning and tracking. The rotary table is used as a carrier to control the radar or antenna to realize azimuth rotation and pitching motion. The basic function of the rotary table is that the rotary table has two rotation degrees of freedom of azimuth and pitching, the azimuth rotation is realized by driving the azimuth shaft to rotate through the gear transmission mechanism driven by the azimuth motor, and the pitching motion is realized by driving the pitching shaft to swing through the worm and gear mechanism driven by the pitching motor. The rotary table as a whole further comprises an inertial measurement unit and an electric control box encapsulating the electrical control equipment.

[0003] Due to the higher flexibility of the automobile relative to the ship, the automobile acceleration, deceleration, sharp turning and road bumping occur from time to time, the vibration of the vehicle body will affect the stability of the target, the tracking ability is insufficient when the target maneuverability is large, the motion curve of the servo platform is not smooth enough, and the target loss phenomenon occurs from time to time. CONTENT OF THE UTILITY MODEL

[0004] In order to solve the above problems existing in the prior art, the purpose of the utility model is to provide a vehicle-mounted and ship-mounted radar two-dimensional rotary table with self-stabilizing function.

[0005] The technical scheme adopted by the utility model is:

[0006] A vehicle-mounted and ship-mounted radar two-dimensional rotary table with self-stabilizing function, comprising a base, a azimuth rotary table installed on the base, an output end of the azimuth rotary table is installed with a pitching rotary table, an output end of the pitching rotary table is installed with a radar, a azimuth lock for locking the output end of the azimuth rotary table is installed on the base, a pitching lock for locking the radar is installed on the fixed end of the pitching rotary table, and an inertial measurement unit is installed on the base.

[0007] The azimuth rotary table can accurately adjust the azimuth of the radar, the pitching rotary table can accurately adjust the pitching angle of the radar, so as to accurately control the direction of the radar, ensure the tracking accuracy of the vehicle-mounted rotary table, and the vehicle-mounted rotary table is stable in motion and can quickly respond to and accurately track large maneuvering targets. The pitching lock can tightly hold the radar pin, so that the radar is locked in the pitching direction. The azimuth lock can lock the azimuth rotary table at zero position, so that the radar is locked in the circumferential direction.

[0008] The radar rotary table needs to complete the specified task when the carrier is in a stationary state and also needs to complete the specified task when the carrier is in a motion state. The motion includes carrier direction change, carrier fluctuation, shaking and shaking caused by jolt and the like. The motion of the carrier will affect the attitude of the rotary table, and further affect the performance of the rotary table positioning, tracking and the like. Therefore, a stabilizing algorithm is designed to achieve the effect of isolating the carrier disturbance and keeping the speed constant or the attitude unchanged of the radar rotary table under the carrier disturbance.

[0009] A coordinate system is established to obtain the initial coordinates of the target in the base coordinate system. When the carrier is in a motion state, the disturbance of each axis of the rotary table is sensed by the inertial measurement unit, and the transformation relationship from the base coordinate system to the disturbed pitch coordinate system is obtained according to the robot forward kinematics, so as to obtain the coordinates of the target in the pitch coordinate system. Finally, the azimuth and pitch angle are obtained by the coordinate inverse solution, so that the stability can be maintained when the carrier is in a motion state, and the disturbance is isolated.

[0010] As a preferred scheme of the utility model, the azimuth rotary table comprises an azimuth base and an azimuth turntable, the azimuth base is fixed on the base, the pitch rotary table is installed on the azimuth turntable, an turntable bearing is connected between the azimuth base and the azimuth turntable, and a speed reducer for driving the azimuth turntable to rotate is installed on the azimuth base.

[0011] As a preferred scheme of the utility model, the speed reducer comprises an azimuth servo motor, the output end of the azimuth servo motor is connected with an azimuth speed reducer, and the output end of the azimuth speed reducer is connected with a pinion; the inner ring of the turntable bearing is fixed with the azimuth base, the outer ring of the turntable bearing is fixed with the azimuth turntable, the outer ring of the turntable bearing is provided with an outer gear ring, and the pinion is engaged with the outer gear ring.

[0012] As a preferred scheme of the utility model, the center of the azimuth rotary table is provided with a bus ring, the bus ring comprises a stator and a rotor, the stator interface is located at the bottom of the bus ring, the rotor interface is located at the top of the bus ring, the bottom of the bus ring is fixed with the azimuth base, and the top of the bus ring is fixed with the azimuth turntable.

[0013] As a preferred scheme of the utility model, a hollow boss is arranged in the middle of the azimuth base, a center pinion is installed on the top of the boss, a data transmission device is installed on the azimuth turntable, a double-piece gear is installed at the bottom of the data transmission device, and the double-piece gear is engaged with the center pinion.

[0014] As a preferred scheme of the utility model, the pitch rotary table comprises a pitch support, the pitch support is installed on the output end of the azimuth rotary table, a pitch shaft assembly is rotatably installed on the pitch support, a radar is fixedly installed on the pitch shaft assembly, a pitch driving assembly is further installed on the pitch support, the output end of the pitch driving assembly is connected with one end of the pitch shaft assembly, and a pitch electric limiting device for limiting the pitch shaft assembly is further installed on the pitch support.

[0015] As a preferred scheme of the utility model, the pitch driving assembly comprises a pitch servo motor, an output end of the pitch servo motor is connected with a pitch reducer, an output end of the pitch reducer is connected with a worm, the worm is engaged with a worm wheel, and the worm wheel is installed on the pitch shaft assembly.

[0016] As a preferred scheme of the utility model, the pitch shaft assembly comprises right and left pitch shafts, the radar is fixedly installed between the right and left pitch shafts, the right and left pitch shafts are rotationally connected with the pitch support, and the right pitch shaft is connected with the output end of the pitch driving assembly. The pitch electric limiting device comprises an angle measuring shaft rotationally installed on the pitch support, an angle measuring gear is installed on the angle measuring shaft, a sector gear is installed on the left pitch shaft, the sector gear is engaged with the angle measuring gear, two cams are installed on the angle measuring shaft, and a contact switch is installed beside the cams.

[0017] As a preferred scheme of the utility model, the pitch lock comprises an electric push rod base, the electric push rod base is installed on the output end of the pitch turntable, the electric push rod base is rotationally connected with a pitch electric push rod, an output end of the pitch electric push rod is rotationally connected with a claw, a middle section of the claw is rotationally connected with the output end of the pitch turntable, a radar pin is fixed on the radar, and the other end of the claw tightly holds the radar pin.

[0018] As a preferred scheme of the utility model, the azimuth lock comprises a bottom connecting base, the bottom connecting base is fixed on the base, an azimuth electric push rod is connected to the bottom connecting base, an output end of the azimuth electric push rod is connected with a limiting pin, a limiting plate is fixed on the output end of the azimuth turntable, and a through hole matched with the limiting pin is arranged on the limiting plate.

[0019] The utility model discloses the beneficial effect is:

[0020] 1. The azimuth turntable of the utility model can accurately adjust the azimuth of the radar, the pitch turntable can accurately adjust the pitch angle of the radar, thereby accurately controlling the direction of the radar, guaranteeing the tracking precision of the vehicle-mounted turntable, and the vehicle-mounted turntable moves stably and can quickly respond and accurately track the large maneuvering target. The pitch lock can tightly hold the radar pin of the radar, and the radar is locked in the pitch direction. The azimuth lock can lock the azimuth turntable at zero position, and the radar is locked in the circumferential direction.

[0021] 2. When the carrier is in a motion state, the disturbance of each shaft of the turntable is sensed through the inertial measurement unit, the transformation relationship from the base coordinate system to the pitch coordinate system after being disturbed is obtained according to the robot forward kinematics, and the coordinates of the target in the pitch coordinate system are obtained. Finally, the azimuth angle and the pitch angle are solved by coordinates, so that the carrier can be maintained stable and isolated from disturbance when the carrier is in a motion state. DRAWINGS

[0022] Figure 1 is the structure schematic diagram of the utility model when the radar is in a retracted state.

[0023] Figure 2 is the structure schematic diagram of the radar when the radar is erected;

[0024] Figure 3 is the front view of the utility model;

[0025] Figure 4 is Figure 3 the sectional view at A-A in figure;

[0026] Figure 5 is Figure 3 the sectional view at B-B in figure;

[0027] Figure 6 is the front view of the pitch turntable;

[0028] Figure 7 is Figure 6 the sectional view at C-C in figure;

[0029] Figure 8 is Figure 6 the sectional view at D-D in figure;

[0030] Figure 9 is Figure 6 the sectional view at E-E in figure;

[0031] Figure 10 is the left view of the pitch turntable;

[0032] Figure 11 is Figure 10 the sectional view at F-F in figure;

[0033] Figure 12 is Figure 11 the local enlarged view at G in figure;

[0034] Figure 13 is the plan view of the utility model;

[0035] Figure 14 is Figure 13 the sectional view at H-H in figure;

[0036] Figure 15 is the self-stabilization technical roadmap.

[0037] In the diagram: 1-Base; 2-Azimuth turntable; 3-Pitch turntable; 4-Inertial Measurement Unit; 5-Pitch Lock; 6-Azimuth Lock; 7-Radar; 21-Azimuth Base; 22-Turntable Bearing; 23-Azimuth Turntable; 24-Reduction Gear; 25-Bus Ring; 26-Bus Ring Plate; 27-Center Pinion; 28-Data Transmission Device; 29-Double-Piece Gear; 31-Pitch Support; 32-Pitch Drive Assembly; 33-Pitch Shaft Assembly; 34-Pitch Encoder; 35-Pitch Electric Limit Device; 51-Electric Actuator Mount; 52-Pitch... 53-Pitch actuator; 61-Bottom connector; 62-Azimuth actuator; 63-Limit pin; 64-Limit plate; 65-Azimuth lock support; 71-Radar pin; 241-Azimuth servo motor; 242-Azimuth reducer; 243-Pinus gear; 321-Pitch servo motor; 322-Pitch reducer; 323-Worm gear; 324-Worm wheel; 331-Right pitch axis; 332-Left pitch axis; 333-Sector gear; 351-Angle measuring gear; 352-Angle measuring shaft; 353-Cam; 354-Contact switch. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other.

[0040] like Figures 1-15 As shown, the self-stabilizing vehicle-mounted and shipborne radar two-dimensional turntable of this embodiment includes a base 1, an azimuth turntable 2, a pitch turntable 3, an inertial measurement unit 4, a pitch lock 5, an azimuth lock 6, etc.

[0041] The azimuth turntable 2 is mainly composed of an azimuth base 21, a turntable bearing 22, an azimuth turntable 23, a speed reducer 24, a data transmission device 28, an eccentric disc, a bus ring 25, a bus ring clamping plate 26, a central pinion 27, and the like. The speed reducer 24 is composed of an azimuth servo motor 241, an azimuth speed reducer 242, and a pinion 243. The turntable bearing 22 is divided into an inner ring and an outer ring. The outer ring is connected to the azimuth turntable 23 by screws, and the inner ring is connected to the azimuth base 21 by screws. The working principle of the azimuth turntable 2 is as follows: the speed reducer 24 is fixed to the azimuth base 21 by screws and the eccentric disc. When the servo motor is driven, the azimuth servo motor 241 drives the azimuth speed reducer 242 to rotate, thereby driving the pinion 243 to rotate clockwise or counterclockwise. The pinion 243 is in mesh with the outer ring of the turntable bearing 22, so that the azimuth turntable 23 is driven to rotate.

[0042] Since the azimuth turntable 2 is 360° unrestricted rotation, in order to ensure the power supply and control of the elevation shaft assembly 33 and the radar 7 array, the bus ring 25 is designed at the center position of the azimuth turntable 2. The bus ring 25 is divided into a stator and a rotor. The stator interface is located at the bottom of the bus ring 25, and the rotor interface is located at the top of the bus ring 25. The bottom of the bus ring 25 is fixed to the azimuth base 21, and the top is fixed to the azimuth turntable 23 by the bus ring clamping plate 26. Therefore, when the azimuth turntable 23 rotates, the rotor part of the bus ring 25 rotates synchronously. In order to ensure reliable waterproof, the bus ring 25 is designed with a lower shield and an upper shield.

[0043] The data transmission device 28 is used to measure the angle of rotation of the azimuth turntable 23 in real time and feed back the related information to the electric control system. A hollow boss is designed in the middle of the azimuth base 21, and the top of the boss is used to install the central pinion 27. The data transmission device 28 is fixed to the azimuth turntable 23, and a double-gear 29 is installed at the bottom of the data transmission device 28. The gear is in mesh with the central pinion 27. When the azimuth turntable 23 rotates, the double-gear 29 rotates around the central pinion 27, thereby driving the encoder to rotate.

[0044] The elevation turntable 3 is mainly composed of an elevation support 31, an elevation drive assembly 32, an elevation shaft assembly 33, an elevation encoder 34, and an elevation electric limit device 35.

[0045] The elevation support 31 is composed of a bottom plate, a left side plate, and a right side plate. The main function is to provide support for the radar 7 and to adjust the angle.

[0046] The pitch driving assembly 32 is composed of a pitch servo motor 321, a pitch reducer 322, a worm 323, a worm wheel 324, a sealing ring, a bearing, an end cover, etc. The worm 323 is installed in the cavity of the right side plate, and the two ends of the worm 323 are respectively provided with a sealing ring and a bearing. The end cover is used for axial positioning to prevent the worm 323 from moving axially. The worm wheel 324 is fixed on the pitch shaft assembly 33, and the worm wheel 324 is meshed with the worm 323 to transmit power.

[0047] The pitch shaft assembly 33 is mainly composed of a right pitch shaft 331, a sealing ring, a bearing, a bearing end cover, a worm wheel 324 pressing plate, a left pitch shaft 332, a fan tooth 333, a lock nut, etc.

[0048] The pitch electric limiting device 35 is mainly composed of an angle measuring gear 351, an angle measuring shaft 352, a bearing, a shaft sleeve, a cam 353, a contact switch 354, an adjusting rod, etc.

[0049] The pitch servo motor 321 drives the pitch reducer 322 to rotate, the output shaft of the pitch reducer 322 is connected with the worm 323, the pitch reducer 322 drives the worm 323 to rotate, the worm 323 is meshed with the worm wheel 324, and the worm wheel 324 is fixed on the pitch shaft assembly 33, so the worm 323 drives the worm wheel 324 to rotate, thereby driving the pitch shaft assembly 33 to rotate, and since the radar 7 is fixed on the pitch shaft assembly 33 by screws, the radar 7 is finally driven to rotate.

[0050] The left pitch shaft 332 is provided with the fan tooth 333, the fan tooth 333 is meshed with the angle measuring gear 351, the angle measuring gear 351 is fixed on the angle measuring shaft 352, two bearings are installed in the middle of the angle measuring shaft 352 to ensure the axial rotation and limit the axial movement, the other end of the angle measuring shaft 352 is provided with a shaft sleeve and two cams 353, the two cams 353 are respectively meshed with two adjusting rods, the angle of the cam 353 can be adjusted by manually rotating the adjusting rod, and two contact switches 354 are respectively installed beside the two cams 353. Since the pitch range of the radar 7 is 0° to 90°, when the operating angle of the radar 7 exceeds these two values, the cam 353 on the pitch electric limiting device 35 will trigger the contact switch 354, and each cam 353 controls one limit position.

[0051] The pitch lock 5 is mainly composed of an electric push rod seat 51, a pin shaft, an electric pitch push rod 52, a pin shaft, a claw 53, a pin shaft, a pitch lock 5 support, etc. The two ends of the electric pitch push rod 52 are respectively connected with the electric push rod seat 51 and the claw 53, the claw 53 is connected with the pitch lock 5 support through the pin shaft, the claw 53 can rotate around the pin shaft, when the electric pitch push rod 52 is elongated, the claw 53 can move away from the radar pin 71, so as to be unlocked. When it is necessary to lock, the electric pitch push rod 52 is shortened, and the claw 53 tightly holds the radar pin 71.

[0052] The azimuth lock 6 is mainly composed of a bottom connecting seat 61, a pin shaft, an azimuth electric push rod 62, a pin shaft, a limiting pin 63, a limiting plate 64, an azimuth lock support 65 and the like. The bottom connecting seat 61 is fixed on the azimuth lock support 65 through screws, and an ear seat is designed on the bottom connecting seat 61 to connect the bottom of the azimuth electric push rod 62 through a pin shaft, and the top of the azimuth electric push rod 62 is connected with the limiting pin 63 through a pin shaft; the limiting plate 64 is fixed on the azimuth turntable 23 through screws and rotates with the azimuth turntable 23. When locking is needed, the azimuth turntable 23 is first returned to the zero position, at which time the hole on the limiting plate 64 is centered with the hole on the azimuth lock support 65, the azimuth electric push rod 62 is extended to drive the limiting pin 63 to rise to the top ear plate of the azimuth lock support 65, at which time the azimuth lock 6 is successfully locked. When unlocking is needed, the azimuth electric push rod 62 is retracted to drive the limiting pin 63 to descend to the lower ear plate of the azimuth lock support 65, at which time the azimuth lock 6 is successfully unlocked.

[0053] One-key lodging workflow: before lodging, the radar 7 is in the erect state, at which time the pitch encoder 34 value is 30° (any angle in the range of 0° to 90°), and after the electric control system receives the lodging instruction from the upper computer, the azimuth turntable 2 is automatically returned to the starting position, the azimuth lock limiting pin 63 is extended into the azimuth lock support 65, and the azimuth lock 6 is locked. The upper computer automatically controls the pitch turntable 3 to rotate, and the pitch angle changes from 30° to 0°. Then the upper computer automatically controls the pitch electric push rod 52 to retract, thereby driving the pitch lock pawl 53 to rotate around the pin shaft, and when the pawl 53 tightly holds the radar pin 71, the automatic lodging is completed.

[0054] One-key erecting workflow: before erecting, the radar 7 is in the lodging state, at which time the pitch encoder 34 value is 0°, and after the electric control system receives the erecting instruction from the upper computer, the azimuth lock limiting pin 63 of the azimuth turntable 2 is retracted to exit the limiting plate 64, and the azimuth lock 6 is unlocked. Then the upper computer automatically controls the pitch electric push rod 52 to extend, thereby driving the pitch lock pawl 53 to rotate around the pin shaft, and when the pawl 53 is completely away from the radar pin 71, the automatic lodging is completed. The upper computer automatically controls the pitch turntable 3 to rotate, and the pitch angle changes from 0° to 30° (any angle in the range of 0° to 90°), and the automatic erecting is completed.

[0055] Self-stabilization technology implementation: the radar 7 turntable not only needs to complete the specified task when the carrier is in a stationary state, but also needs to complete the specified task when the carrier is in a motion state. Such motion includes carrier direction change, speed change, carrier fluctuation, shaking and shaking caused by jolt and the like. These carrier motions will affect the attitude of the turntable, and then affect the positioning, tracking and the like performance of the turntable. Therefore, a stabilization algorithm is designed to achieve the effect of isolating the carrier disturbance and keeping the speed constant or the attitude unchanged of the radar 7 turntable under the carrier disturbance.

[0056] By establishing coordinate system, the initial coordinates of the target in the base coordinate system are obtained. When the carrier is in a motion state, the disturbance of each axis of the turntable is sensed by the inertial measurement unit 4, and the transformation relationship from the base coordinate system to the disturbed pitch coordinate system is obtained according to the forward kinematics of the robot, so as to obtain the coordinates of the target in the pitch coordinate system. Finally, the azimuth and pitch angle are obtained by the coordinate inverse solution, so that the stability can be maintained when the carrier is in a motion state, and the disturbance is isolated.

[0057] The vehicle-mounted radar 7 turntable has high automation degree, can realize one-key erecting and flattening, and does not need manual intervention in the whole process; the transmission precision is high, and the pitch and rotation precision is as high as 0.033° (2 arc minutes).

[0058] The vehicle-mounted radar 7 turntable can isolate the carrier interference and keep the speed constant or the attitude unchanged under the complex working conditions such as the carrier fluctuation, shaking and shaking caused by the change of the carrier direction and speed.

[0059] The utility model is not limited to the above optional implementation, anyone can draw other various forms of products under the enlightenment of the utility model, but no matter make any change in its shape or structure, all technical schemes falling into the scope defined by the utility model claims are within the protection scope of the utility model.

Claims

1. A two-dimensional turntable for vehicle-mounted and shipborne radar with self-stabilization function, characterized in that: The utility model provides a radar azimuth and elevation locking device, which comprises a base (1), a azimuth turntable (2) is installed on the base (1), an output end of the azimuth turntable (2) is installed with an elevation turntable (3), an output end of the elevation turntable (3) is installed with a radar (7), a azimuth lock (6) for locking the output end of the azimuth turntable (2) is installed on the base (1), an elevation lock (5) for locking the radar (7) is installed on the fixed end of the elevation turntable (3), and a inertial measurement unit (4) is installed on the base (1).

2. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 1, characterized in that: The azimuth turntable (2) comprises an azimuth base (21) and an azimuth turntable (23), the azimuth base (21) is fixed on the base (1), the elevation turntable (3) is installed on the azimuth turntable (23), a turntable bearing (22) is connected between the azimuth base (21) and the azimuth turntable (23), and a speed reducer (24) for driving the azimuth turntable (23) to rotate is installed on the azimuth base (21).

3. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 2, characterized in that: The speed reducer (24) comprises an azimuth servo motor (241), the output end of the azimuth servo motor (241) is connected with an azimuth speed reducer (242), and the output end of the azimuth speed reducer (242) is connected with a pinion (243); the inner ring of the turntable bearing (22) is fixed with the azimuth base (21), the outer ring of the turntable bearing (22) is fixed with the azimuth turntable (23), and the outer ring of the turntable bearing (22) is provided with an outer gear ring, and the pinion (243) is meshed with the outer gear ring.

4. The two-dimensional turntable for shipboard and vehicle-mounted radar with self-stabilization function according to claim 2, characterized in that: The center of the azimuth turntable (2) is provided with a bus ring (25), the bus ring (25) comprises a stator and a rotor, the stator interface is located at the bottom of the bus ring (25), the rotor interface is located at the top of the bus ring (25), the bottom of the bus ring (25) is fixed with the azimuth base (21), and the top of the bus ring (25) is fixed with the azimuth turntable (23).

5. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 2, characterized in that: The middle of the azimuth base (21) is provided with a hollow boss, the top of the boss is provided with a center pinion (27), a data transmission device (28) is installed on the azimuth turntable (23), the bottom of the data transmission device (28) is provided with a double gear (29), and the double gear (29) is meshed with the center pinion (27).

6. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 1, characterized in that: The elevation turntable (3) comprises an elevation support (31), the elevation support (31) is installed on the output end of the azimuth turntable (2), the elevation support (31) is rotatably provided with an elevation shaft assembly (33), the radar (7) is fixedly installed on the elevation shaft assembly (33), the elevation support (31) is further provided with an elevation driving assembly (32), one end of the elevation shaft assembly (33) is connected with the output end of the elevation driving assembly (32), and the elevation support (31) is further provided with an elevation electric limiting device (35) for limiting the elevation shaft assembly (33).

7. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 6, characterized in that: The elevation driving assembly (32) comprises an elevation servo motor (321), the output end of the elevation servo motor (321) is connected with an elevation speed reducer (322), the output end of the elevation speed reducer (322) is connected with a worm (323), the worm (323) is meshed with a worm wheel (324), and the worm wheel (324) is installed on the elevation shaft assembly (33).

8. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 6, characterized in that: The pitch axis assembly (33) comprises a right pitch axis (331) and a left pitch axis (332), the radar (7) is fixedly installed between the right pitch axis (331) and the left pitch axis (332), the right pitch axis (331) and the left pitch axis (332) are rotationally connected with the pitch support (31), and the right pitch axis (331) is connected with the output end of the pitch driving assembly (32); the pitch electric limiting device (35) comprises an angle measuring shaft (352) rotationally installed on the pitch support (31), an angle measuring gear (351) is installed on the angle measuring shaft (352), a sector gear (333) is installed on the left pitch axis (332), the sector gear (333) is meshed with the angle measuring gear (351), two cams (353) are installed on the angle measuring shaft (352), and a contact switch (354) is installed beside the cam (353).

9. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 1, characterized in that: The pitch lock (5) comprises an electric push rod base (51), the electric push rod base (51) is installed on the output end of the pitch turntable (3), the electric push rod base (51) is rotationally connected with a pitch electric push rod (52), the output end of the pitch electric push rod (52) is rotationally connected with a claw (53), the middle section of the claw (53) is rotationally connected with the output end of the pitch turntable (3), a radar pin (71) is fixedly installed on the radar (7), and the other end of the claw (53) tightly holds the radar pin (71).

10. The two-dimensional turntable for vehicle and shipboard radar with self-stabilization function according to claim 1, characterized in that: The azimuth lock (6) comprises a bottom connecting base (61), the bottom connecting base (61) is fixedly installed on the base (1), the bottom connecting base (61) is connected with an azimuth electric push rod (62), the output end of the azimuth electric push rod (62) is connected with a limiting pin (63), the output end of the azimuth turntable (2) is fixedly installed with a limiting plate (64), and the limiting plate (64) is provided with a through hole matched with the limiting pin (63).

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