Multipurpose single-arm two-shaft turntable equipment

Abstract

The utility model relates to multipurpose single-arm two-shaft turntable equipment, which comprises a base assembly, an orientation assembly and a pitching assembly, the base assembly comprises a base frame body, the orientation assembly comprises an orientation frame and an orientation rotating assembly, the orientation frame is connected above the base frame body, and the orientation rotating assembly comprises an orientation rotating shaft; the pitching assembly is located above the azimuth assembly and comprises a supporting part, a pitching rotating assembly and a load connecting piece, the lower end of the supporting part is connected with the upper end of the azimuth rotating shaft, the pitching rotating assembly comprises a pitching frame and a pitching rotating shaft located in the pitching frame, the pitching frame is fixed to the upper end of the supporting part, and the load connecting piece is arranged at one end of the pitching rotating shaft; the load connecting piece is used for installing a load. The pitching assembly is of a single-arm offset design, and the load is coaxially installed on the pitching shaft, so that the pitching rotation torque is reduced, the load is convenient to replace, the appearance compatibility of the load structure is expanded, and the device can be suitable for various loads.

Description

TECHNICAL FIELD

[0001] The utility model relates to two axis servo turntable field, concretely relates to a multipurpose single arm two axis turntable equipment. BACKGROUND

[0002] Two axis turntable is important equipment in photoelectric technology field, is widely used in military, scientific research, industrial automation etc. field, provides necessary positioning support, steering power etc. function for load. At present two axis turntable is mostly T type table or U type table, wherein the load of T type table is fixed in both sides or top, and the rotational inertia is large, which is not conducive to accurate positioning, the load of U type table is installed in the middle of U frame, although there is no problem of large rotational inertia, but U type turntable structure limits the load appearance and size, so the application range is limited. CONTENT OF UTILITY MODEL

[0003] The utility model aims at providing a kind of multipurpose single arm two axis turntable equipment, to simultaneously have T type table high load structure compatibility, U type table low torque characteristics.

[0004] To achieve the above object, the utility model adopts the following technical scheme:

[0005] A kind of multipurpose single arm two axis turntable equipment, including base assembly, azimuth assembly, pitch assembly, base assembly includes base frame body, azimuth assembly includes azimuth frame and azimuth rotating assembly, azimuth frame is connected on the top of base frame body, and azimuth rotating assembly includes azimuth rotating shaft;

[0006] Pitch assembly is located above azimuth assembly, including support part, pitch rotating assembly and load connecting piece, the lower end of support part is connected with the upper end of azimuth rotating shaft, pitch rotating assembly includes pitch frame, the pitch rotating shaft in pitch frame, pitch frame is fixed in the upper end of support part, load connecting piece is arranged at one end of pitch rotating shaft, and load connecting piece is used to install load.

[0007] Further, the outer periphery of the base frame body is provided with an openable side door plate.

[0008] Further, the outer periphery of the azimuth frame is provided with a plurality of laser detection modules evenly spaced.

[0009] Further, the inner side of the azimuth frame is provided with an azimuth fixed shaft, the azimuth rotating shaft is matched with the azimuth fixed shaft through the azimuth bearing, the azimuth rotating shaft is driven by the azimuth motor, the stator of the azimuth motor and the azimuth encoder are connected on the azimuth fixed shaft, and the rotor of the azimuth motor is connected with the azimuth rotating shaft.

[0010] Further, the support part is a hollow structure, the azimuth rotating shaft is a hollow structure and is provided with a conductive slip ring in it, the rotor of the conductive slip ring is connected to the lower part of the support part, and the stator of the conductive slip ring is fixed on the azimuth fixed shaft.

[0011] Further, the base frame is provided with an angle sensor.

[0012] Further, the pitch rotating shaft is driven by a pitch motor, a stator of the pitch motor and a pitch encoder are fixed in a pitch frame, and the pitch rotating shaft is assembled in the pitch frame through a pitch bearing.

[0013] Further, the pitch frame is provided with a pitch electronic limiting structure for limiting the rotation angle range of the pitch rotating shaft.

[0014] Further, the pitch frame comprises a frame body and an end cover, and both sides of the frame body are open, one side opening is used for exposing one end of the pitch rotating shaft to connect the load connecting piece, and the other side opening is used for detachably connecting the end cover, and the frame body and the support part are integrally formed.

[0015] Further, the outer side of the pitch frame is provided with a limiting screw, one side of the load connecting piece facing the pitch rotating shaft is provided with an arc-shaped notch, and one end of the limiting screw is located in the arc-shaped notch; the limiting screw is used for mechanically limiting the rotation angle range of the pitch rotating shaft.

[0016] The utility model discloses the beneficial effects of the following:

[0017] (1) the pitch assembly in the utility model is single-arm offset design, and the load is coaxially installed on the pitch shaft, so that the pitch rotation torque is reduced, and the design of hanging the load on the single-arm side is convenient for replacing the load, greatly expands the load structure appearance compatibility, can be suitable for various loads, and is better in applicability. The load gravity is close to the shaft core of the azimuth rotating shaft, and the azimuth rotation inertia is small.

[0018] (2) the door plates on the four sides of the base assembly can be opened and closed, so that maintenance and debugging are facilitated.

[0019] (3) the circumference of the azimuth assembly is left with space, and application can be expanded.

[0020] (4) the load connecting piece has a load navigation plug, and has the electrical connection effect, so that installation is facilitated and rapid. DRAWINGS

[0021] Figure 1 is the appearance view of the multipurpose single-arm two-axis turntable equipment of the utility model;

[0022] Figure 2 is the structure view of the base assembly in the multipurpose single-arm two-axis turntable equipment of the utility model (one side door plate is opened);

[0023] Figure 3 is the partial sectional view of the multipurpose single-arm two-axis turntable equipment of the utility model.

[0024] 1. Base assembly; 11. Base frame; 111. Equipment mounting hole; 112. Handle mounting hole; 12. Side door panel; 13. Main board; 14. Power module; 15. Electrical connector; 16. Angle sensor; 2. Azimuth assembly; 21. Azimuth frame; 22. Azimuth rotation assembly; 221. Azimuth fixing shaft; 222. Azimuth rotation shaft; 223. Azimuth bearing; 224. Azimuth motor; 225. Azimuth encoder; 226. Azimuth... 227. Position oil seal; 23. Bearing press-fit component; 3. Detection module; 3. Pitch assembly; 31. Support part; 32. Pitch rotation assembly; 321. Pitch electronic limit structure; 322. Pitch rotation shaft; 323. Pitch bearing; 324. Pitch motor; 325. Pitch encoder; 326. Pitch oil seal; 33. Load connector; 34. Conductive slip ring; 35. End cover; 36. Load connector; 37. Limit screw; 4. Load. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art are within the protection scope of the present utility model.

[0026] Embodiments of this utility model:

[0027] like Figures 1-3 As shown, a multi-purpose single-arm two-axis turntable device includes a base assembly 1, an orientation assembly 2, and a pitch assembly 3. The base assembly 1 includes a base frame 11. The orientation assembly 2 includes an orientation frame 21 and an orientation rotation assembly 22. The orientation frame 21 is connected above the base frame 11. The pitch assembly 3 is located above the orientation assembly 2 and includes a support 31, a pitch rotation assembly 32, and a load connector 33. The load connector 33 is used to mount a load 4. The orientation rotation assembly 22 is used to achieve rotation about a vertical axis; the pitch rotation assembly 32 is used to achieve pitch rotation, i.e., rotation about a horizontal axis.

[0028] like Figure 2 As shown, the base frame 11 is a square, hollow structure, integrally formed, with equipment fixing holes 111 at the bottom four corners and handle mounting holes 112 on the sides at the four corners. The base frame 11 has four openable side panels 12 on its outer periphery, located on the four sides of the base frame 11. The side panels 12 are connected by screws and can be opened for easy installation of electrical components and wiring.

[0029] like Figure 2As shown, the base frame 11 is provided with a main board 13, a power module 14, an electrical connector 15 and an angle sensor 16, and the main board 13 and the electrical connector 15 are fixed to the inner side of the side door plate 12. The angle sensor 16 is located at the bottom center area in the base frame 11; when the rotary table equipment of the utility model is installed on a vehicle for use, the angle sensor 16 is used to measure the inclination angle of the rotary table equipment in real time, so as to compensate for the parameter error caused by the fact that the base frame 11 is not in a horizontal position. When the rotary table equipment of the utility model is installed at a certain fixed position for use, the angle sensor 16 need not be used.

[0030] As shown in Figure 3 , the azimuth frame 21 is a regular polygon structure, and a plurality of laser detection modules 23 are uniformly and regularly arranged on the outer periphery of the azimuth frame 21, and the laser detection modules 23 are fixed to the inner side of the azimuth frame 21 by screws. The laser detection module 23 can sense the laser signal emitted by other external equipment and transmit it to the main board 13.

[0031] As shown in Figure 3 , the azimuth rotating assembly 22 includes an azimuth rotating shaft 222, an azimuth fixed shaft 221, an azimuth motor 224, an azimuth bearing 223, an azimuth encoder 225 and an azimuth oil seal 226; the azimuth rotating shaft 222 is vertically arranged at the center position of the azimuth frame 21, the azimuth rotating shaft 222 is matched with the azimuth fixed shaft 221 through the azimuth bearing 223, and the azimuth fixed shaft 221 is fixed to the inner side of the azimuth frame 21. The azimuth rotating shaft 222 is driven by the azimuth motor 224, the stator of the azimuth motor 224 and the azimuth encoder 225 are connected to the azimuth fixed shaft 221, and the rotor of the azimuth motor 224 is connected to the azimuth rotating shaft 222.

[0032] The azimuth bearing 223 press-fitting piece is arranged on the azimuth frame 21, and the outer shell of the azimuth oil seal 226 is fixed to the bearing press-fitting piece 227 to realize dynamic sealing.

[0033] The lower end of the support part 31 is connected to the upper end of the azimuth rotating shaft 222, and the pitch rotating assembly 32 includes a pitch frame and a pitch rotating shaft 322 located in the pitch frame. The pitch frame includes a frame body and an end cover 35, and the frame body has two side openings, one of which allows one end of the pitch rotating shaft 322 to be exposed for fixing a load connecting piece 33, and the other of which allows the end cover 35 to be detachably connected. The frame body and the support part 31 are integrally formed, that is, a single-arm support. In other embodiments, the frame body and the support part 31 can be manufactured separately and then fixed together by welding or bolt connection.

[0034] The load connecting piece 33 is arranged at one end of the pitch rotating shaft 322, and the load connecting piece 33 is used for installing the load 4.

[0035] The support part 31 is a hollow structure and communicates with the internal space of the pitch frame. The upper part of the support part 31 is eccentrically arranged relative to the azimuth rotation shaft 222, so that the gravity center of the load 4 is close to the shaft core of the azimuth rotation shaft 222, and the azimuth rotation inertia is small.

[0036] The azimuth rotation shaft 222 is a hollow structure and has a conductive slip ring 34 arranged therein. The rotor of the conductive slip ring 34 is connected to the lower part of the support part 31, and the stator of the conductive slip ring 34 is fixed on the azimuth fixed shaft 221. By arranging the conductive slip ring 34, the communication and power supply connection between the pitch assembly 3 and the azimuth assembly 2 when the pitch assembly 3 rotates 360° along the azimuth rotation shaft 222 are realized.

[0037] The pitch rotation shaft 322 is driven by a pitch motor 324. The stator of the pitch motor 324 and a pitch encoder 325 are fixed in the pitch frame, and the pitch rotation shaft 322 is assembled in the pitch frame through a pitch bearing 323. The pitch bearing 323 is further provided with a pitch oil seal 326 on one side.

[0038] A laser detection module 23 is mounted on the top of the pitch frame.

[0039] The pitch frame is provided with a pitch electronic limit structure 321 for limiting the rotation angle range of the pitch rotation shaft 322. The electronic limit structure adopts proximity switches, and a pair of proximity switches are arranged to limit the limit positions of the positive and negative rotations of the pitch rotation shaft 322. The end of the pitch rotation shaft 322 close to the end cover 35 is provided with a trigger structure for cooperating with the proximity switches.

[0040] Further, the outer side of the pitch frame is provided with a limiting screw 37, which can be an internal hexagonal cylindrical head screw. The load connecting piece 33 is in the form of a plate. The side of the load connecting piece 33 facing the pitch rotation shaft 322 is provided with an arc-shaped notch, and the end part (cylindrical head) of the limiting screw 37 is located in the arc-shaped notch. The limiting screw 37 is used for mechanically limiting the rotation angle range of the pitch rotation shaft 322 and plays a role when the electronic limit fails.

[0041] The center position of the load connecting piece 33 is provided with a load navigation plug 36. When the load is installed and fixed, the navigation plug is also connected in a synchronous manner, which is used for power supply and communication of the load 4.

[0042] The load 4 in the embodiment is an integrated deflection laser and image observation module.

[0043] Working principle: at the beginning of work, the detection module 23 on the circumference of the azimuth assembly 2 and the top of the pitch assembly 3 is started, the azimuth full angle and the pitch -15° to 90° airspace are monitored, when the incoming laser signal is detected, the device mainboard 13 judges the signal source direction and angle, each servo responds, the azimuth motor 224 drives the azimuth rotating shaft 222, drives the pitch assembly 3 to rotate to the preset horizontal direction, at the same time, the pitch rotating assembly 32 drives the pitch rotating shaft 322 in the pitch motor 324, drives the load 4 to rotate to the preset pitch angle, the load 4 emits laser to the specified coordinate point, induces the incoming signal to deviate to the false target direction, and the image observation module in the load 4 monitors and records the laser deviation process in real time. The above is the principle of self-protection response of the equipment, and the false target point can also be manually selected.

[0044] The multipurpose single-arm two-axis rotary table of the utility model can replace the load. When the load "integrated laser deviation and image observation module" is replaced by "integrated laser suppression and image tracking module", the working principle is as follows:

[0045] Working principle: at the beginning of work, the detection module 23 on the circumference of the azimuth assembly 2 and the top of the pitch assembly 3 is started, the azimuth full angle and the pitch -15° to 90° airspace are monitored, when the incoming laser signal is detected, the device mainboard 13 judges the signal source direction and angle, each servo responds, the azimuth motor 224 drives the azimuth rotating shaft 222, drives the pitch assembly 3 to rotate to the preset horizontal direction, at the same time, the pitch rotating assembly 32 drives the pitch rotating shaft 322 in the pitch motor 324, drives the load rotating to the incoming laser signal pitch angle, the image tracking module in the load captures the incoming target, the two-axis servo system cooperates with it to track in real time, and the suppression laser in the load emits laser to interfere with the incoming target. The above is the principle of self-protection response of the equipment, and the tracking target can also be manually selected, and whether the laser suppression interference is manually selected.

Claims

1. A multi-purpose single-arm two-axis rotary table apparatus, characterized by: The base assembly includes a base frame, the azimuth assembly includes an azimuth frame and an azimuth rotating assembly, the azimuth frame is connected above the base frame, and the azimuth rotating assembly includes an azimuth rotating shaft; The elevation assembly is located above the azimuth assembly and includes a support part, an elevation rotating assembly, and a load connecting part, the lower end of the support part is connected to the upper end of the azimuth rotating shaft, the elevation rotating assembly includes an elevation frame and an elevation rotating shaft located in the elevation frame, the elevation frame is fixed to the upper end of the support part, and the load connecting part is arranged at one end of the elevation rotating shaft.

2. The multi-purpose single-arm two-axis rotary table apparatus according to claim 1, characterized in that: The outer periphery of the base frame is provided with an openable side door plate.

3. The multi-purpose single-arm two-axis rotary table apparatus according to claim 1, wherein: The outer periphery of the azimuth frame is provided with a plurality of laser detection modules arranged at uniform intervals.

4. The multi-purpose single-arm two-axis rotary table apparatus according to claim 1, wherein: The inner side of the azimuth frame is provided with an azimuth fixed shaft, the azimuth rotating shaft is matched with the azimuth fixed shaft through an azimuth bearing, the azimuth rotating shaft is driven by an azimuth motor, the stator of the azimuth motor and an azimuth encoder are connected to the azimuth fixed shaft, and the rotor of the azimuth motor is connected to the azimuth rotating shaft.

5. The multi-purpose single-arm two-axis rotary table apparatus according to claim 4, wherein: The support part is a hollow structure, the azimuth rotating shaft is also a hollow structure and is provided with a conductive slip ring inside, the rotor of the conductive slip ring is connected to the lower part of the support part, and the stator of the conductive slip ring is fixed to the azimuth fixed shaft.

6. The multi-purpose single-arm two-axis rotary table apparatus according to claim 1, wherein: The base frame is provided with an angle sensor.

7. The multi-purpose single-arm two-axis rotary table apparatus according to claim 1, wherein: The elevation rotating shaft is driven by an elevation motor, the stator of the elevation motor and an elevation encoder are fixed in the elevation frame, and the elevation rotating shaft is assembled in the elevation frame through an elevation bearing.

8. The multi-purpose single-arm two-axis rotary table apparatus according to claim 7, wherein: The elevation frame is provided with an elevation electronic limiting structure for limiting the rotation angle range of the elevation rotating shaft.

9. The multi-purpose single-arm two-axis rotary table apparatus according to claim 7, wherein: The elevation frame includes a frame body and an end cover, both sides of the frame body are open, one side opening allows one end of the elevation rotating shaft to be exposed for connecting the load connecting part, the other side opening is detachably connected to the end cover, and the frame body and the support part are integrally formed.

10. The multi-purpose single-arm two-axis rotary table apparatus according to claim 8, wherein: The outer side of the elevation frame is provided with a limiting screw, one side of the load connecting part facing the elevation rotating shaft is provided with an arc-shaped notch, and one end of the limiting screw is located in the arc-shaped notch; the limiting screw is used for mechanically limiting the rotation angle range of the elevation rotating shaft.

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