High-precision attitude stabilization platform

Abstract

The utility model discloses a high accuracy attitude stable platform, the stable platform includes: support mechanism, azimuth rotating mechanism, horizontal roll rotating mechanism. Support mechanism is fixed on the motion carrier, and azimuth rotating mechanism sets up on the support mechanism, and can rotate around azimuth axis, horizontal roll rotating mechanism sets up on the azimuth rotating mechanism, and can rotate around horizontal roll axle, 2 pitch rotating mechanisms symmetry sets up on the horizontal roll rotating mechanism, and all are connected with the equipment to be stabilized, and every pitch rotating mechanism can rotate around pitch axis, and azimuth axis, horizontal roll axle and pitch axis two two mutually perpendicular. Among them, the support mechanism includes: adapter board, platform base, a plurality of vibration isolators, the adapter board is fixed on the motion carrier, and the platform base is used for supporting the azimuth rotating mechanism, a plurality of vibration isolators are evenly fixed on the adapter board, and every vibration isolator is located between the adapter board and the platform base, and is used for isolating and filtering the motion interference of the motion carrier for the equipment to be stabilized.

Description

Technical Field

[0001] This utility model specifically relates to a high-precision attitude stabilization platform. Background Technology

[0002] Moving vehicles are typically equipped with devices such as optical measuring instruments to collect information about their surroundings. However, moving vehicles are susceptible to environmental disturbances, such as turbulence and swaying, which can cause the equipment mounted on them to become unstable, thus affecting the data they collect. For example, in a marine environment, ships are affected by the environment and their own hull performance, causing them to roll and lose balance. This results in equipment mounted on the hull being unstable and unable to function properly. Therefore, a high-precision attitude stabilization platform is needed for use on moving vehicles such as ships and vehicles to isolate the disturbances caused by the movement of the moving vehicle from the equipment. Utility Model Content

[0003] The purpose of this invention is to provide a high-precision attitude stabilization platform that isolates the moving carrier from disturbances to the equipment to be stabilized, thereby enabling the equipment to operate normally.

[0004] To achieve the above objectives, this utility model provides a high-precision attitude stabilization platform for isolating the moving carrier from disturbances to the stabilization device caused by motion, comprising: The support mechanism is fixed to the moving vehicle; An azimuth rotation mechanism is mounted on a support mechanism, and the azimuth rotation mechanism rotates relative to the support mechanism around an azimuth axis. A roll rotation mechanism is mounted on an azimuth rotation mechanism, and the roll rotation mechanism rotates about a roll axis relative to the azimuth rotation mechanism. Two pitch rotation mechanisms are symmetrically arranged on the roll rotation mechanism and are both connected to the equipment to be stabilized; each pitch rotation mechanism rotates about the pitch axis relative to the roll rotation mechanism; and the azimuth axis, roll axis and pitch axis are perpendicular to each other. The support mechanism includes: a transition plate, a platform base, and several vibration isolators; the transition plate is fixed on the moving carrier, and the platform base is used to support the orientation rotation mechanism; several vibration isolators are evenly fixed on the transition plate, and each vibration isolator is located between the transition plate and the platform base, so as to isolate and filter the motion interference of the moving carrier for the equipment to be stabilized.

[0005] Optionally, the support mechanism further includes: Several pads are evenly placed on the adapter plate, with one end of each pad contacting the adapter plate and the other end contacting the platform base to support the platform base; and the height of the pads is higher than the height of the vibration isolator, so that the platform base is separated from the vibration isolator.

[0006] Several fasteners, the bottom of each fastener passing through the platform base and pad in sequence, are detachably connected to the adapter plate.

[0007] Optionally, each pad includes: a plurality of vertically stacked pad blocks, each pad block having two symmetrical sides provided with coaxial fixing holes, so that the fixing member passes through the two fixing holes perpendicularly to the surface of the pad block with fixing holes and is connected to the adapter plate.

[0008] Optionally, the orientation rotation mechanism includes: A support turntable is fixed to the center of the platform base; The outer frame is rotatably connected to the center of the top surface of the support turntable at its bottom center position, so that the outer frame can rotate about the azimuth axis relative to the support turntable. A limiting component includes: a blocking member and at least one limiting member, the limiting member being fixed to a platform base; the top end of the blocking member is fixed to an outer frame, and the bottom end of the blocking member extends downward so that the side of the blocking member contacts the limiting member; A locking component is fixed to the bottom of the outer frame. The bottom end of the locking component is retractable to achieve the fixation between the outer frame and the support turntable. An orientation drive unit is fixed on the support turntable, and the output end of the orientation drive unit is connected to the outer frame to control the movement of the outer frame relative to the support turntable.

[0009] Optionally, the outer frame has a U-shaped structure with symmetrical connectors at both ends, and the two connectors are respectively connected to the roll-rotation mechanism; the roll-rotation mechanism includes: The inner frame is a ring structure, and two symmetrical sides of the inner frame are respectively fixed to two connectors of the outer frame, so that the inner frame is symmetrical about the line connecting the two connectors; the line connecting the two connectors is used as the roll axis. A roll drive unit is disposed at at least one of the connecting members, and the roll drive unit is fixed on the outer frame, and its output end is connected to the inner frame for controlling the rotational movement of the inner frame relative to the outer frame.

[0010] Optionally, the inner frame is provided with rotating holes symmetrical about the line connecting the two connectors; the two rotating holes are respectively located on two symmetrical sides of the inner frame that are away from the connectors. Each of the pitch rotation mechanisms includes: A rotating assembly is inserted into the rotating hole, causing the rotating assembly to rotate about the pitch axis within the rotating hole; Adjust the limiting block and fix it on the inner wall of the inner frame; An adjusting ring is sleeved on the rotating assembly, and a stop block is provided on the adjusting ring; wherein, after the adjusting ring rotates with the rotating assembly at a certain angle, the stop block abuts against the adjusting limit block.

[0011] Optionally, the rotating assembly includes: an inner rotating shaft, an outer rotating shaft, a connecting sleeve, a fixing sleeve, and a pitch drive unit, all coaxially arranged. The outer rotating shaft is located in the rotating hole; One end of the inner rotating shaft is inserted into the outer rotating shaft, and the inner rotating shaft can move within the outer rotating shaft along its axial direction; the other end of the inner rotating shaft is fixed to the side of the device to be stabilized. The connecting sleeve includes: a connecting seat and an adjusting seat; the connecting seat is sleeved on the inner rotating shaft and fixed on the end face of the outer rotating shaft, and the connecting seat is located between the inner rotating shaft and the adjusting ring; the adjusting seat is composed of multiple adjusting sections with one end fixed on the connecting seat, and the multiple adjusting sections are all wrapped around the outside of the inner rotating shaft; The fixing sleeve is fitted onto the outside of the adjusting seat, so that the connecting sleeve is fixedly connected to the inner rotating shaft; The pitch drive unit is fixed on the roll rotation mechanism, and its output end is connected to the outer rotation shaft to control the rotation of the rotation component relative to the roll rotation mechanism.

[0012] Optionally, it further includes: a measuring mechanism, the measuring mechanism comprising: Two rotational speed measuring units are respectively installed on the outer rotation axis of each of the rotating components and located outside the inner frame. Each rotational speed measuring unit includes: a base, and a first single-axis gyroscope, a second single-axis gyroscope, and a third single-axis gyroscope disposed on the base. The base is fixed on the outer rotation axis and located outside the inner frame. The axis of the first single-axis gyroscope is parallel to the roll axis and is used to test the rotational speed of the roll rotation mechanism. The axis of the second single-axis gyroscope coincides with the pitch axis and is used to test the rotational speed of the pitch rotation mechanism. The axis of the third single-axis gyroscope is parallel to the azimuth axis and is used to test the rotational speed of the azimuth rotation mechanism.

[0013] An inertial measurement unit is mounted on the platform base and is used to measure the attitude angles of the moving carrier; The position measurement unit is mounted on the platform base and is used to receive satellite signals from the moving vehicle to obtain the positioning information of the moving vehicle.

[0014] Optionally, it also includes: a servo control system; The rotation speed measurement unit generates rotation speed signals including the rotation speed of the azimuth rotation mechanism, the rotation speed of the roll rotation mechanism, and the rotation speed of the pitch rotation mechanism; and the servo control system is signal-connected to the rotation speed measurement unit and receives the rotation speed signals sent by the rotation speed measurement unit. The inertial measurement unit generates an inertial combination signal including the attitude angle of the moving vehicle; the servo control system is signal-connected to the inertial measurement unit and receives the inertial combination signal sent by the inertial measurement unit. The position measurement unit generates a positioning signal for the moving vehicle; the servo control system is signal-connected to the position measurement unit and receives the positioning signal sent by the position measurement unit. The servo control system generates control signals for stabilizing the equipment to be stabilized based on the rotation speed signal, inertial combination signal, and positioning signal. The servo control system is signal-connected to the azimuth drive unit, roll drive unit, and pitch drive unit respectively, and sends control signals to the azimuth drive unit, roll drive unit, and pitch drive unit respectively to control the rotation angle and rotation rate of the azimuth rotation mechanism, roll rotation mechanism, and pitch rotation mechanism.

[0015] Compared with the prior art, the technical solution of this utility model has at least the following beneficial effects: The stabilization platform described in this utility model uses vibration isolators to prevent the equipment to be stabilized from being affected by the vibration of the moving carrier, thus isolating and filtering motion interference from the moving carrier. Furthermore, by setting up an azimuth rotation mechanism, a roll rotation mechanism, and two pitch rotation mechanisms, the platform controls the rotation angle and rotation rate of the equipment to be stabilized on the azimuth axis, roll axis, and pitch axis, enabling the equipment to resist the swaying caused by external influences on the moving carrier, isolating the moving carrier from disturbances to the equipment to be stabilized, providing high-precision stabilization conditions for the equipment to be stabilized, and enabling the equipment to operate normally.

[0016] The stabilization platform described in this invention obtains the position of the stabilization platform and the deflection of the device to be stabilized after being swayed by the moving carrier through a measuring mechanism, and sends the above information to the servo control system, so that the servo control system generates control signals to control the azimuth rotation mechanism, the roll rotation mechanism, and the two pitch rotation mechanisms to adjust the deflection of the device to be stabilized, so as to realize the normal operation of the device to be stabilized.

[0017] The stabilization platform of this invention adopts a two-frame, three-axis turntable structure. The outer frame and supporting turntable are rotatably connected to allow the device to be stabilized to rotate around the azimuth axis. The inner and outer frames are rotatably connected to allow the device to rotate around the roll axis. Two symmetrically arranged rotating components on the inner frame allow the device to rotate around the pitch axis. These two rotating components can position the device at the intersection of the azimuth, roll, and pitch axes. This design ensures that the device rotates around three mutually perpendicular axes to isolate it from the disturbances of the moving vehicle. It also gives the stabilization platform advantages such as small size, light weight, high load-bearing capacity, and high stabilization accuracy, thus meeting the size and weight requirements of the moving vehicle for the stabilization platform. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the high-precision attitude stabilization platform described in this utility model after the device to be stabilized is installed.

[0019] Figure 2 for Figure 1 Top view.

[0020] Figure 3 This is a structural schematic diagram of the high-precision attitude stabilization platform described in this utility model from a first-view perspective.

[0021] Figure 4 This is a schematic diagram of the structure of the adapter plate in the high-precision attitude stabilization platform described in this utility model.

[0022] Figure 5 This is a schematic diagram of the structure of the pad block in the high-precision attitude stabilization platform described in this utility model.

[0023] Figure 6 This is a structural schematic diagram of the high-precision attitude stabilization platform described in this utility model from a second-view perspective.

[0024] Figure 7 This is a schematic diagram of the rotating component in the high-precision attitude stabilization platform described in this utility model.

[0025] Figure 8 This is a schematic diagram of the connecting sleeve in the high-precision attitude stabilization platform of this utility model.

[0026] Figure 9 This is a schematic diagram of the pitch and rotation mechanism in the high-precision attitude stabilization platform described in this utility model.

[0027] Figure 10 This is a schematic diagram of the adjustment ring in the high-precision attitude stabilization platform described in this utility model.

[0028] Figure 11This is a structural schematic diagram of the high-precision attitude stabilization platform described in this utility model from a third-person perspective.

[0029] Figure 12 This is a schematic diagram of the rotational speed measurement unit in the high-precision attitude stabilization platform described in this utility model.

[0030] Figure 13 This is a schematic diagram illustrating the usage method of the high-precision attitude stabilization platform described in this utility model.

[0031] In the diagram, 100 is the support mechanism, 200 is the azimuth rotation mechanism, 300 is the device to be stabilized, 400 is the roll rotation mechanism, 500 is the speed measurement unit, 600 is the inertia measurement unit, 700 is the position measurement unit, 800 is the pitch rotation mechanism, and 900 is the limit component. 1-Adapter plate, 2-Vibration isolator, 3-First pad, 4-Second pad, 5-Platform base, 6-Fixing component, 8-Support turntable, 9-Outer frame, 10-Connector, 11-Inner frame, 14-Optical measurement unit, 17-Roll limiter, 18-Signal antenna, 19-Antenna mounting base, 20-Crossbeam, 21-Crossbeam mounting plate, 22-Boss, 23-Fixing hole, 24-Connector, 25-Adjusting seat, 26-Fixing sleeve, 29-Inner rotating shaft, 30-Guide block, 31-Outer rotating shaft, 33-Adjusting limiter block, 34-Adjusting ring, 36-Stop block, 38-First blocking rod, 39-Second blocking rod, 40-Second limiter, 42-First limiter, 44-Locking component, 45-Third single-axis gyroscope, 47-Second single-axis gyroscope, 48-First single-axis gyroscope, 49-Base. Detailed Implementation

[0032] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] This utility model provides a high-precision attitude stabilization platform, employing a two-frame, three-axis turntable structure, applicable to moving vehicles such as ships and vehicles, which can isolate the stabilization equipment from disturbances caused by the movement of the moving vehicle. Figure 1 and Figure 2 As shown, the stabilizing platform includes: a support mechanism 100, an azimuth rotation mechanism 200, a roll rotation mechanism 400, and two pitch rotation mechanisms 800. The support mechanism 100 is fixed to the moving carrier. The azimuth rotation mechanism 200 is mounted on the support mechanism 100 and can rotate relative to the support mechanism 100 in a horizontal plane, i.e., around an azimuth axis. The roll rotation mechanism 400 is mounted on the azimuth rotation mechanism 200 and can rotate relative to the azimuth rotation mechanism 200 in a vertical plane, i.e., around a roll axis. The two pitch rotation mechanisms 800 are symmetrically arranged on the roll rotation mechanism 400 and are both connected to the device to be stabilized 300; each pitch rotation mechanism 800 can rotate relative to the roll rotation mechanism 400 in a vertical plane, i.e., around a pitch axis. The azimuth axis, roll axis, and pitch axis are all perpendicular to each other.

[0036] like Figure 3 As shown, the support mechanism 100 is fixed on a moving carrier such as a ship or vehicle, and includes: a transition plate 1 and a platform base 5. The transition plate 1 is fixed on the moving carrier, and the platform base 5 is used to support the orientation rotation mechanism 200.

[0037] Furthermore, to reduce the vibration caused by the movement of the vehicle, such as Figure 3As shown, the support mechanism 100 further includes: several pads, several fixing members 6, and several vibration isolators 2; the vibration isolators 2 are evenly fixed on the transition plate 1, and each vibration isolator 2 is located between the transition plate 1 and the platform base 5 to reduce vibration force. The several pads are evenly placed on the transition plate 1, with one end of each pad contacting the transition plate 1 and the other end contacting the platform base 5 to support the platform base 5; and the height of the pads is higher than the height of the vibration isolators 2, so that the platform base 5 is separated from the vibration isolators 2. The bottom of each fixing member 6 passes through the platform base 5, the pad, and connects to the transition plate 1 in sequence. When the stable platform is not in use, the platform base 5 is separated from the vibration isolators 2 by the support of the pads and is fixed to the transition plate 1 by the fixing members 6; when the stable platform is in use, the fixing members 6 and the pads are removed, so that the platform base 5 is placed on the vibration isolators 2, and the vibration isolators 2 are used to reduce the vibration of the platform base 5 caused by the bumps of the moving carrier.

[0038] Specifically, such as Figure 3 As shown, each pad includes: multiple vertically stacked pad blocks, each pad block having coaxial fixing holes 23 on its symmetrical upper and lower sides, allowing the fixing member 6 to pass through the two fixing holes 23 perpendicularly to the surface of the pad block with fixing holes 23 and connect to the adapter plate 1. Figure 5 As shown, the shape of the fixing hole 23 can be a U-shaped through hole extending along the length of the pad, which ensures that the fixing member 6 passes through the pad while allowing the position of the pad to be adjusted.

[0039] In one specific embodiment, such as Figure 3 As shown, each pad includes a first pad 3 and a second pad 4 stacked vertically upwards, with the first pad 3 and the second pad 4 placed between the adapter plate 1 and the platform base 5. The height of the stacked pads is higher than the height of the vibration isolator 2, so that the platform base 5 is above the vibration isolator 2 without contacting it. The fastener 6 can be connected to the adapter plate 1 by passing through the platform base 5, the second pad 4, and the first pad 3 in sequence.

[0040] Furthermore, such as Figure 4 As shown, the adapter plate 1 has multiple bosses 22 evenly distributed on its surface. The bosses 22 have threaded holes, allowing the fixing member 6 to be inserted into the bosses 22 and connected to them by threads. When the stabilizing platform is not in use, multiple pads in each pad are stacked vertically, and the projections of the fixing holes 23 of the pads onto the adapter plate 1 cover their corresponding bosses 22. The bottom end of the fixing member 6 passes through the platform base 5, the fixing holes 23 on the multiple pads, and is inserted into the bosses 22, thus fixing the platform base 5 and the adapter plate 1 together with the fixing member 6.

[0041] In one specific embodiment, the fastener 6 includes a bolt and a nut. The bottom end of the bolt passes through the platform base 5 and the fixing holes 23 on the multiple pads in sequence and is inserted into the boss 22. The top end of the bolt is locked with a nut to fix the platform base 5, the pads and the adapter plate 1 together.

[0042] like Figure 3 , Figure 6 and Figure 11 As shown, the orientation rotation mechanism 200 is fixed at the center of the platform base 5 and includes: an outer frame 9, a support turntable 8, a locking member 44, and a limiting assembly 900. The bottom surface of the support turntable 8 is fixed at the center of the platform base 5. The bottom center of the outer frame 9 is rotatably connected to the top center of the support turntable 8, allowing the outer frame 9 to rotate relative to the support turntable 8 on a horizontal plane (i.e., rotate around an orientation axis that coincides with the axis of the support turntable 8, see reference). Figure 1 ).

[0043] like Figure 6 and Figure 11 As shown, the limiting component 900 is fixed to the platform base 5 and includes: a blocking member and at least one limiting member. The limiting member is fixed to the platform base 5. The top end of the blocking member is fixed to the outer frame 9, and the bottom end of the blocking member extends downward until the side of the bottom end of the blocking member contacts the limiting member. When the outer frame 9 rotates, the blocking member can rotate with the outer frame 9 until the side of the bottom end of the blocking member contacts the limiting member, preventing further rotation of the outer frame 9 and thus limiting the rotation angle of the outer frame 9.

[0044] Furthermore, the orientation rotation mechanism 200 also includes an orientation drive unit, which may be a servo motor. The orientation drive unit is fixed on the support turntable 8, and its output end is connected to the outer frame 9 to control the movement of the outer frame 9 relative to the support turntable 8.

[0045] In one embodiment, when only one limiting member is provided on the platform base 5, the blocking member can rotate 360° with the outer frame 9 from the position of contacting the limiting member until the bottom side of the blocking member contacts the limiting member again, thereby achieving 360° limiting of the rotation of the outer frame 9. In another embodiment, when two limiting members are provided on the platform base 5, the blocking member can rotate with the outer frame 9 between the two limiting members, thereby limiting the rotation of the outer frame 9 at any angle; in this case, the maximum rotation angle of the outer frame 9 can be adjusted by adjusting the distance between the two limiting members.

[0046] In one specific embodiment, such as Figure 11As shown, the blocking component includes: a first blocking rod 38 connected to the outer frame 9 and a second blocking rod 39 connected to the first blocking rod 38. The second blocking rod 39 extends downward over the first blocking rod 38 so that its bottom end can contact the limiting component. The limiting component includes: a first limiting component 42 and a second limiting component 40 fixed to the platform base 5. One end of the first limiting component 42 is fixed to the platform base 5; the second limiting component 40 is connected to the other end of the first limiting component 42 and extends the length of the first limiting component 42 upward so that the top end of the second limiting component 40 can contact the side of the second blocking rod 39, thereby limiting the rotation angle of the blocking component. In a preferred embodiment, the first limiting component 42 and the second limiting component 40 are connected by a rotating shaft (e.g., a pin), allowing the second limiting component 40 to rotate within ±15° of the vertical direction around the rotating shaft, buffering the process of the blocking component from rotation to stop and preventing the limiting component from being damaged by inertia.

[0047] like Figure 6 and Figure 11 As shown, the locking member 44 is fixed to the bottom of the outer frame 9, and the bottom end of the locking member 44 is retractable. When the stabilizing platform is not in use, the bottom end of the locking member 44 is inserted into the corresponding groove on the support turntable 8 to lock the outer frame 9 relative to the support turntable 8; when the stabilizing platform is in use, the bottom end of the locking member 44 is shortened, moving the bottom end of the locking member 44 away from the support turntable 8, allowing the outer frame 9 and the support turntable 8 to move relative to each other.

[0048] Furthermore, such as Figure 3 and Figure 6 As shown, the outer frame 9 has a U-shaped structure with symmetrical connectors 10 at both ends. Two connectors 10 are connected to the roll rotation mechanism 400, allowing the roll rotation mechanism 400 to rotate relative to the outer frame 9 in a vertical plane (i.e., rotate around the roll axis that coincides with the line connecting the two connectors 10, as reference). Figure 1 ).

[0049] The roll rotation mechanism 400 includes an inner frame 11. The inner frame 11 has a ring structure, and two symmetrical sides of the inner frame 11 are respectively fixed to two connectors 10 of the outer frame 9, so that the inner frame 11 is symmetrical about the roll axis, and the inner frame 11 can rotate relative to the outer frame 9 about the roll axis.

[0050] Furthermore, such as Figure 3 and Figure 6 As shown, the roll rotation mechanism 400 further includes a roll limiting member 17, which is fixed to the bottom of the outer frame 9. The size of the roll limiting member 17 can be set as needed to limit the rotation angle of the inner frame 11 in the outer frame 9.

[0051] Furthermore, the roll rotation mechanism 400 also includes a roll drive unit, which may be a servo motor; the roll drive unit is disposed at at least one of the connecting members 10, and the roll drive unit is fixed on the outer frame 9, and its output end is connected to the inner frame 11 for controlling the rotational movement of the inner frame 11 relative to the outer frame 9.

[0052] Furthermore, such as Figure 6 As shown, the inner frame 11 has two symmetrical rotating holes about the roll axis. The two rotating holes are located on two symmetrical sides of the inner frame 11 that are away from the connector 10, and the line connecting the centers of the two rotating holes (i.e., the pitch axis) is perpendicular to the roll axis. Each rotating hole is used to fix the pitch rotation mechanism 800.

[0053] like Figure 6 and Figure 9 As shown, the two pitch rotation mechanisms 800 are symmetrically arranged about the roll axis and mounted on the inner frame 11. Each pitch rotation mechanism 800 includes: an adjusting limit block 33, an adjusting ring 34, and a rotating assembly. The rotating assembly is inserted into the rotating hole and can rotate along its axis within the rotating hole. The adjusting limit block 33 is fixed to the inner wall of the inner frame 11. Figure 10 As shown, the adjusting ring 34 is sleeved on the rotating assembly, and the adjusting ring 34 is provided with a stop block 36. The stop block 36 can rotate with the adjusting ring 34, and after the adjusting ring 34 rotates with the rotating assembly at a certain angle, the stop block 36 abuts against the adjusting limit block 33 to limit the rotation angle of the rotating assembly.

[0054] Specifically, such as Figure 7 and Figure 9 As shown, the rotating assembly includes: an inner rotating shaft 29, an outer rotating shaft 31, a connecting sleeve, and a fixing sleeve 26, all coaxially arranged. The outer rotating shaft 31 is located in the rotating hole; one end of the inner rotating shaft 29 is inserted into the outer rotating shaft 31, and the inner rotating shaft 29 can move along its axial direction within the outer rotating shaft 31; the other end of the inner rotating shaft 29 is fixed to the side of the device to be stabilized 300. In use, the extension and retraction length of the inner rotating shaft 29 within the outer rotating shaft 31 can be adjusted based on the dimensions of the device to be stabilized 300, thereby fixing the device to be stabilized 300 at the center position of the inner frame 11. Figure 8As shown, the connecting sleeve is fitted onto the inner rotating shaft 29 and includes a connecting seat 24 and an adjusting seat 25. The connecting seat 24 is fitted onto the inner rotating shaft 29 and fixed to the end face of the outer rotating shaft 31, allowing the inner rotating shaft 29 to rotate coaxially with the outer rotating shaft 31. The connecting seat 24 is located between the inner rotating shaft 29 and the adjusting ring 34. The adjusting seat 25 consists of multiple adjusting sections with one end fixed to the connecting seat 24. These multiple adjusting sections wrap around the outside of the inner rotating shaft 29, allowing the adjusting seat 25 to accommodate inner rotating shafts 29 of different diameters. Figure 7 and Figure 9 As shown, the fixing sleeve 26 is sleeved on the outside of the adjusting seat 25, so that multiple adjusting sections tightly wrap the inner rotating shaft 29, thereby realizing the fixed connection between the connecting sleeve and the inner rotating shaft 29.

[0055] Furthermore, such as Figure 7 As shown, an adjustment hole is provided at the axis of the outer rotating shaft 31. The adjustment hole is used to accommodate the inner rotating shaft 29, and the inner wall surface of the adjustment hole is provided with a guide groove along its axial direction. A guide block 30 is provided on the side surface of one end of the inner rotating shaft 29 located in the adjustment hole, and the guide block 30 matches the guide groove. When the inner rotating shaft 29 is adjusted in the adjustment hole, the guide block 30 moves along the guide groove with the inner rotating shaft 29, completing the extension and retraction of the inner rotating shaft 29, effectively preventing the inner rotating shaft 29 and the outer rotating shaft 31 from rotating at different frequencies.

[0056] When the stop block 36 on the adjusting ring 34 is at the first angle, the stop block 36 moves away from the adjusting limit block 33; when the stop block 36 on the adjusting ring 34 is at the second angle, the stop block 36 contacts the adjusting limit block 33, restricting the rotation of the adjusting ring, so that the rotating assembly can rotate between the first angle and the second angle. In a preferred embodiment, the rotation angle of the rotating assembly can be limited by adjusting the distance between the stop block 36 and the adjusting limit block 33 on the adjusting ring 34.

[0057] The device to be stabilized 300 is fixed between the two pitch rotation mechanisms 800. By extending and retracting the inner rotation shaft 29 relative to the outer rotation shaft 31, the center of the device to be stabilized 300 is located at the intersection of the azimuth axis, roll axis, and pitch axis. This ensures that the rotation angle and rotation rate of the pitch rotation mechanism 800, roll rotation mechanism 400, and azimuth rotation mechanism 200 are consistent with the position of the device to be stabilized 300 in each direction. This facilitates the adjustment of the rotation angle and rotation rate of the device to be stabilized 300, enabling the device to be stabilized 300 to reach a stable state.

[0058] Furthermore, each rotating component also includes a pitch drive unit, which is typically a servo motor; the pitch drive unit is fixed on the inner frame 11 and its output end is connected to the outer rotation shaft 31, for controlling the rotation of the rotating component relative to the inner frame 11.

[0059] Furthermore, such as Figure 1 and Figure 2 As shown, the stabilization platform also includes a measuring mechanism, which is used to test the position of the stabilization platform and the deflection of the device 300 to be stabilized after being swung by the moving carrier (i.e., to obtain the factors that indicate that the device 300 to be stabilized is in an unstable state). The measuring mechanism includes: two rotation speed measuring units 500, an inertial measuring unit 600 and a position measuring unit 700.

[0060] Specifically, such as Figure 2 As shown, the two speed measuring units 500 are respectively mounted on the outer rotation shaft 31 of each of the rotating components, and are located outside the inner frame 11. Figure 12 As shown, each rotational speed measurement unit includes: a base 49, and a first single-axis gyroscope 48, a second single-axis gyroscope 47, and a third single-axis gyroscope 45 mounted on the base 49. The base 49 is fixed to the outer rotation axis 31 and located outside the inner frame 11. The axis of the first single-axis gyroscope 48 is parallel to the roll axis and is used to test the rotational speed of the inner frame 11; the axis of the second single-axis gyroscope 47 coincides with the pitch axis and is used to test the rotational speed of the rotating component; the axis of the third single-axis gyroscope 45 is parallel to the azimuth axis and is used to test the rotational speed of the outer frame 9.

[0061] The inertial measurement unit 600 is mounted on the platform base 5 and is used to measure the attitude angle of the moving carrier on which the stable platform is installed.

[0062] The position measurement unit 700 is used to receive satellite signals from the moving vehicle and obtain the positioning information of the moving vehicle. For example... Figure 3 As shown, the position measurement unit 700 is mounted on the platform base 5 and includes: two signal antennas 18, a crossbeam 20, and a crossbeam mounting plate 21. The crossbeam mounting plate 21 is fixed to the platform base 5, the crossbeam 20 is mounted on the crossbeam mounting plate 21, and the two signal antennas 18 are symmetrically fixed to the crossbeam 20 via antenna mounting seats 19 to receive satellite signals.

[0063] Furthermore, the measuring mechanism also includes an optical measuring unit 14, which is typically an optical measuring instrument and is mounted on the inner frame 11 for acquiring image information of the position of the moving carrier.

[0064] Furthermore, to ensure that the device 300 to be stabilized on the stabilizing platform resists the swaying of the moving carrier, such as... Figure 13 As shown, the stabilization platform also includes a servo control system. The servo control system can generate control signals based on the positional changes of the device 300 to be stabilized due to the swing of the moving carrier, and control the rotation angle and rotation rate of the inner frame 11, outer frame 9 and rotating components in the stabilization platform to resist the unstable state of the device 300 to be stabilized caused by the swing of the moving carrier.

[0065] Specifically, the rotation speed measurement unit 500 can generate rotation speed signals including the rotation speed of the inner frame 11 (i.e., the rotation speed of the device to be stabilized 300 around the roll axis), the rotation speed of the outer frame 9 (i.e., the rotation speed of the device to be stabilized 300 around the azimuth axis), and the rotation speed of the rotating component (i.e., the rotation speed of the device to be stabilized 300 around the pitch axis); and the servo control system is signal-connected to the rotation speed measurement unit 500 and can receive the rotation speed signals sent by the rotation speed measurement unit 500.

[0066] The inertial measurement unit 600 can generate an inertial combination signal including the attitude angle of the moving carrier; and the servo control system is signal-connected to the inertial measurement unit 600 and can receive the inertial combination signal sent by the inertial measurement unit 600.

[0067] The position measurement unit 700 can generate positioning signals for the moving vehicle; the servo control system is signal-connected to the position measurement unit 700 and can receive positioning signals sent by the position measurement unit 700.

[0068] The servo control system can generate control signals for stabilizing the device 300 based on rotation speed signals, inertial combination signals, and positioning signals. Furthermore, the servo control system is signal-connected to the azimuth drive unit of the azimuth rotation mechanism 200, the roll drive unit of the roll rotation mechanism 400, and the pitch drive unit of the pitch rotation mechanism 800, respectively, and sends control signals to these units to control the rotation angle and rotation rate of the outer frame 9, inner frame 11, and rotating components, thereby stabilizing the device 300.

[0069] In a preferred embodiment, the optical measurement unit 14 is signal-connected to the servo control system, and can send the image information collected by the optical measurement unit 14 to the servo control system, so that the servo control system can generate more accurate control signals.

[0070] During the stabilization process of the device 300 to be stabilized using the stabilization platform, the fixing piece 6 on the platform base 5 is removed, and then the pad between the platform base 5 and the adapter plate 1 is removed, so that the platform base contacts the vibration isolator 2, and the vibration isolator 2 reduces the vibration of the platform base 5. At the same time, the locking piece 44 of the azimuth rotation mechanism 200 is opened, so that the bottom end of the locking piece 44 is shortened, thereby allowing the outer frame 9 and the support turntable 8 to move relative to each other. At this time, the outer frame 9 can rotate relative to the support turntable 8 about the azimuth axis, the inner frame 11 can rotate relative to the outer frame 9 about the roll axis, and the rotating component can rotate relative to the inner frame 11 about the pitch axis, so that the position of the device 300 to be stabilized can be moved.

[0071] When the stabilizing platform is subjected to the swaying of the moving carrier, causing the device 300 to be stabilized to be in an unstable state, such as Figure 13 As shown, the servo control system acquires inertial combination signals, rotational speed signals, and positioning signals in real time through the measuring mechanism, and generates control signals; then, it sends the control signals to the azimuth drive unit of the azimuth rotation mechanism 200, the roll drive unit of the roll rotation mechanism 400, and the pitch drive unit of the pitch rotation mechanism 800. The azimuth drive unit controls the rotation of the outer frame 9 relative to the supporting turntable 8 according to the control signals, thus stabilizing the rotation of the device 300 to be stabilized on the azimuth axis; the roll drive unit of the roll rotation mechanism 400 controls the rotation of the inner frame 11 relative to the outer frame 9 according to the control signals, thus stabilizing the rotation of the device 300 to be stabilized on the roll axis; the pitch drive unit of the pitch rotation mechanism 800 controls the rotation of the rotating component according to the control signals, causing the rotating component to drive the device 300 to be stabilized to rotate relative to the inner frame 11, thus stabilizing the rotation of the device 300 to be stabilized on the pitch axis, and restoring the device 300 to a stable state.

[0072] In summary, the stabilization platform of this utility model prevents the equipment to be stabilized from being affected by the vibration of the moving carrier by setting up a vibration isolator; and by setting up an azimuth rotation mechanism, a roll rotation mechanism, and two pitch rotation mechanisms to control the rotation angle and rotation rate of the equipment to be stabilized on the azimuth axis, roll axis, and pitch axis, the equipment to be stabilized resists the swaying caused by the moving carrier being affected by external factors, isolates the moving carrier from the disturbance of the equipment to be stabilized, provides high-precision stabilization conditions for the equipment to be stabilized, and realizes the normal operation of the equipment to be stabilized.

[0073] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A high-precision attitude-stabilized platform for isolating a moving carrier from disturbances caused by movement to a device to be stabilized, characterized in that, include: The support mechanism is fixed to the moving platform; An azimuth rotation mechanism is mounted on a support mechanism, and the azimuth rotation mechanism rotates relative to the support mechanism around an azimuth axis. A roll rotation mechanism is mounted on an azimuth rotation mechanism, and the roll rotation mechanism rotates about a roll axis relative to the azimuth rotation mechanism. Two pitch rotation mechanisms are symmetrically arranged on the roll rotation mechanism and are both connected to the equipment to be stabilized; each pitch rotation mechanism rotates about the pitch axis relative to the roll rotation mechanism; and the azimuth axis, roll axis and pitch axis are perpendicular to each other. The support mechanism includes: a transition plate, a platform base, and several vibration isolators; the transition plate is fixed on the moving carrier, and the platform base is used to support the orientation rotation mechanism; several vibration isolators are evenly fixed on the transition plate, and each vibration isolator is located between the transition plate and the platform base, so as to isolate and filter the motion interference of the moving carrier for the equipment to be stabilized.

2. The high precision attitude stabilized platform of claim 1, wherein, The support mechanism also includes: Several pads are evenly placed on the adapter plate, with one end of each pad contacting the adapter plate and the other end contacting the platform base to support the platform base; and the height of the pads is higher than the height of the vibration isolator, so that the platform base is separated from the vibration isolator. Several fasteners, the bottom of each fastener passing through the platform base and pad in sequence, are detachably connected to the adapter plate.

3. The high precision attitude stabilized platform of claim 2, wherein, Each pad includes: multiple vertically stacked pad blocks, each pad block having two symmetrical sides with coaxial fixing holes, so that the fixing member passes through the two fixing holes perpendicularly to the surface of the pad block with fixing holes and connects to the adapter plate.

4. The high-precision attitude-stabilized platform of claim 1, wherein, The orientation rotation mechanism includes: A support turntable is fixed to the center of the platform base; The outer frame is rotatably connected to the center of the top surface of the support turntable at its bottom center position, so that the outer frame can rotate about the azimuth axis relative to the support turntable. A limiting component includes: a blocking member and at least one limiting member, the limiting member being fixed to a platform base; the top end of the blocking member is fixed to an outer frame, and the bottom end of the blocking member extends downward so that the side of the blocking member contacts the limiting member; A locking component is fixed to the bottom of the outer frame. The bottom end of the locking component is retractable to achieve the fixation between the outer frame and the support turntable. An orientation drive unit is fixed on the support turntable, and the output end of the orientation drive unit is connected to the outer frame to control the movement of the outer frame relative to the support turntable.

5. The high precision attitude stabilized platform of claim 4, wherein, The outer frame has a U-shaped structure with symmetrical connectors at both ends. Two connectors are respectively connected to the rolling rotation mechanism. The rolling rotation mechanism includes: The inner frame is a ring structure, and two symmetrical sides of the inner frame are respectively fixed to two connectors of the outer frame, so that the inner frame is symmetrical about the line connecting the two connectors; the line connecting the two connectors is used as the roll axis. A roll drive unit is disposed at at least one of the connecting members, and the roll drive unit is fixed on the outer frame, and its output end is connected to the inner frame for controlling the rotational movement of the inner frame relative to the outer frame.

6. The high-precision attitude-stabilized platform according to claim 5, characterized in that, The inner frame is provided with rotating holes symmetrical about the line connecting the two connectors; the two rotating holes are respectively located on two symmetrical sides of the inner frame that are away from the connectors. Each of the pitch rotation mechanisms includes: A rotating assembly is inserted into the rotating hole, causing the rotating assembly to rotate about the pitch axis within the rotating hole; Adjust the limiting block and fix it on the inner wall of the inner frame; An adjusting ring is sleeved on the rotating assembly, and a stop block is provided on the adjusting ring; wherein, after the adjusting ring rotates with the rotating assembly at a certain angle, the stop block abuts against the adjusting limit block.

7. The high precision attitude stabilized platform of claim 6, wherein, The rotating assembly includes: an inner rotating shaft, an outer rotating shaft, a connecting sleeve, a fixing sleeve, and a pitch drive unit, all arranged coaxially. The outer rotating shaft is located in the rotating hole; One end of the inner rotating shaft is inserted into the outer rotating shaft, and the inner rotating shaft can move within the outer rotating shaft along its axial direction; the other end of the inner rotating shaft is fixed to the side of the device to be stabilized. The connecting sleeve includes: a connecting seat and an adjusting seat; the connecting seat is sleeved on the inner rotating shaft and fixed on the end face of the outer rotating shaft, and the connecting seat is located between the inner rotating shaft and the adjusting ring; the adjusting seat is composed of multiple adjusting sections with one end fixed on the connecting seat, and the multiple adjusting sections are all wrapped around the outside of the inner rotating shaft; The fixing sleeve is fitted onto the outside of the adjusting seat, so that the connecting sleeve is fixedly connected to the inner rotating shaft; The pitch drive unit is fixed on the roll rotation mechanism, and its output end is connected to the outer rotation shaft to control the rotation of the rotation component relative to the roll rotation mechanism.

8. The high-precision attitude-stabilized platform according to claim 7, characterized in that, Also includes: The measuring mechanism includes: Two rotational speed measurement units are respectively installed on the outer rotation axis of each of the rotating components and located outside the inner frame. Each rotational speed measurement unit includes: a base, and a first single-axis gyroscope, a second single-axis gyroscope, and a third single-axis gyroscope disposed on the base. The base is fixed on the outer rotation axis and located outside the inner frame. The axis of the first single-axis gyroscope is parallel to the roll axis and is used to test the rotational speed of the roll rotation mechanism. The axis of the second single-axis gyroscope coincides with the pitch axis and is used to test the rotational speed of the pitch rotation mechanism. The axis of the third single-axis gyroscope is parallel to the azimuth axis and is used to test the rotational speed of the azimuth rotation mechanism. An inertial measurement unit is mounted on the platform base and is used to measure the attitude angles of the moving carrier; The position measurement unit is mounted on the platform base and is used to receive satellite signals from the moving vehicle to obtain the positioning information of the moving vehicle.

9. The high precision attitude stabilized platform of claim 8, wherein, Also includes: Servo control system; The rotation speed measurement unit generates rotation speed signals including the rotation speed of the azimuth rotation mechanism, the rotation speed of the roll rotation mechanism, and the rotation speed of the pitch rotation mechanism; and the servo control system is signal-connected to the rotation speed measurement unit and receives the rotation speed signals sent by the rotation speed measurement unit. The inertial measurement unit generates an inertial combination signal including the attitude angle of the moving vehicle; the servo control system is signal-connected to the inertial measurement unit and receives the inertial combination signal sent by the inertial measurement unit. The position measurement unit generates a positioning signal for the moving vehicle; the servo control system is signal-connected to the position measurement unit and receives the positioning signal sent by the position measurement unit. The servo control system generates control signals for stabilizing the equipment to be stabilized based on the rotation speed signal, inertial combination signal, and positioning signal. The servo control system is signal-connected to the azimuth drive unit, roll drive unit, and pitch drive unit respectively, and sends control signals to the azimuth drive unit, roll drive unit, and pitch drive unit respectively to control the rotation angle and rotation rate of the azimuth rotation mechanism, roll rotation mechanism, and pitch rotation mechanism.

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