Composite small vehicle-mounted four-axis servo stabilizing platform

Abstract

The utility model relates to a kind of composite small-sized vehicle-mounted four-axis servo stabilizing platform, belong to vehicle-mounted equipment field. Including: azimuth mechanism, pitching mechanism, roll mechanism, pitching mechanism, shell and controller;The roll mechanism and the pitching mechanism are all with the shell rotation connection, for adjusting the inclination angle of the azimuth mechanism and the pitching mechanism, the azimuth mechanism and the pitching mechanism are all installed in the shell top, the azimuth mechanism is used to drive the pitching mechanism rotation, inclination sensor for detecting the inclination angle of the azimuth mechanism and the pitching mechanism is fixedly installed on the shell, the controller is electrically connected with the inclination sensor, the azimuth mechanism, the pitching mechanism, the roll mechanism and the pitching mechanism. The utility model solves the problem that conventional vehicle-mounted servo antenna seat cannot be automatically leveled and aligned, so that the servo antenna seat can independently isolate the interference of equipment vehicle, and the use scene is more extensive.

Description

Technical Field

[0001] This utility model relates to the field of vehicle-mounted equipment, and in particular to a composite small vehicle-mounted four-axis servo stabilization platform. Background Technology

[0002] Currently, commonly used vehicle-mounted servo systems in China are typically XY-axis type and azimuth-pitch type. For these systems to function, the horizontal reference must be adjusted to be parallel to the ground plane before operation. For example, a common vehicle-mounted antenna servo system (azimuth-pitch type) requires leveling legs on the vehicle. When parked, the leveling legs automatically level the vehicle before the servo system can operate; it does not operate while the vehicle is in motion. Therefore, commonly used vehicle-mounted servo systems require the vehicle (vehicle, ship) to be equipped with a leveling system. With the continuous evolution of application scenarios, sometimes it is necessary to track moving targets. This urgently requires servo systems that can automatically isolate disturbances from the vehicle (vehicle, ship), detect changes in the platform's angle, and accurately maintain a dynamic reference. However, currently, there are no small-scale vehicle-mounted four-axis servo stabilization platforms designed and applied in China. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a composite small vehicle-mounted four-axis servo stabilization platform to solve the above-mentioned problem.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A composite small vehicle-mounted four-axis servo stabilization platform includes: an orientation mechanism, a pitch mechanism, a roll mechanism, a yaw mechanism, a housing, and a controller; the roll mechanism and the yaw mechanism are both rotatably connected to the housing and are used to adjust the tilt angle of the orientation mechanism and the pitch mechanism. The orientation mechanism and the pitch mechanism are both installed on the top of the housing. The orientation mechanism is used to drive the pitch mechanism to rotate. A tilt sensor for detecting the tilt angle of the orientation mechanism and the pitch mechanism is fixedly installed on the housing. The controller is electrically connected to the tilt sensor, the orientation mechanism, the pitch mechanism, the roll mechanism, and the yaw mechanism.

[0005] The beneficial effects of this invention are as follows: the roll and pitch mechanisms facilitate the adjustment of the tilt angles of the azimuth and pitch mechanisms to horizontal by rolling and / or pitching when the tilt sensor detects a change in the tilt angle of the azimuth and pitch mechanisms on the housing, thus achieving a leveling function; the azimuth mechanism facilitates the circumferential rotation of the pitch mechanism and the vehicle-mounted servo system (such as a vehicle-mounted antenna servo system) mounted on the pitch mechanism, and the pitch mechanism facilitates the adjustment of the pitch angle of the vehicle-mounted servo system, thereby enabling the vehicle-mounted servo system to maintain the function of searching, capturing, and tracking targets even when the equipment vehicle is in a non-horizontal state; this invention avoids the inability of the vehicle-mounted servo system mounted on the pitch mechanism to maintain a horizontal working state due to the equipment vehicle being in a non-horizontal state (such as being impacted, bumped, or parked on an inclined road), eliminating the need for leveling legs on the equipment vehicle, solving the problem that traditional vehicle-mounted servo antenna mounts cannot automatically level and align, and enabling the servo antenna mount to autonomously isolate interference from the equipment vehicle, thus expanding its application scenarios.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, the orientation mechanism includes: an orientation servo motor, an orientation pinion, and an orientation rotary bearing; the top of the housing is provided with a fixed platform and a rotating platform, the rotating platform is rotatably disposed above the fixed platform, the orientation servo motor is fixedly mounted on the rotating platform, its output shaft is drivenly connected to the orientation pinion, the orientation pinion meshes with the outer ring of the orientation rotary bearing, the outer ring of the orientation rotary bearing is fixedly mounted on the top of the fixed platform, its inner ring is fixedly connected to the rotating platform, and the controller is electrically connected to the orientation servo motor.

[0008] The beneficial effects of adopting the above-mentioned further solution are: the azimuth servo motor is conducive to driving the azimuth pinion to rotate, thereby driving the azimuth slewing bearing and the rotating platform to rotate, thereby causing the pitch mechanism and the vehicle-mounted servo system installed on the pitch mechanism to rotate.

[0009] Furthermore, the outer ring of the azimuth slewing bearing is provided with a toothed structure that meshes with the azimuth pinion.

[0010] The beneficial effect of adopting the above-mentioned further solution is that the outer ring of the azimuth slewing bearing is provided with a toothed structure, which is conducive to the relative rotation of the inner and outer rings of the azimuth slewing bearing under the drive of the azimuth servo motor and the azimuth pinion, thereby causing the azimuth mechanism and the rotating platform to rotate around the fixed platform, and in turn driving the pitch mechanism and the vehicle-mounted servo system installed on the pitch mechanism to rotate.

[0011] Furthermore, the pitch mechanism includes: a pitch servo motor, a pitch transmission assembly, two support plates, and an equipment mounting platform; the two support plates are arranged opposite to each other, with their bottom ends fixedly mounted on the top of the rotating platform; the pitch transmission assembly is rotatably mounted on the side wall of the support plate; the pitch servo motor is fixedly mounted on the top of the rotating platform, with its output shaft connected to the pitch transmission assembly; the equipment mounting platform is rotatably arranged between the two support plates, with both ends connected to the pitch transmission assembly; and the controller is electrically connected to the pitch servo motor.

[0012] The beneficial effect of adopting the above-mentioned further solution is that the pitch servo motor can transmit power to the equipment mounting platform through the pitch transmission component, so that the equipment mounting platform can swing between two support plates, thereby driving the vehicle-mounted servo system (such as the vehicle-mounted antenna servo system) mounted on the equipment mounting platform to pitch and swing for attitude adjustment.

[0013] Furthermore, the pitch transmission assembly includes: a pitch pinion, a pitch transition gear, a pitch sector gear, two pitch shafts, and two pitch swing arms; the pitch pinion and the pitch transition gear are rotatably mounted on one side wall of one of the support plates; the output shaft of the pitch servo motor is connected to the pitch pinion; the pitch pinion meshes with the pitch transition gear; the top ends of the two pitch swing arms are rotatably mounted on opposite side walls of the two support plates via the two pitch shafts; the two ends of the equipment mounting platform are fixedly connected to the bottom ends of the two pitch swing arms; the top end of the pitch sector gear is fixedly connected to one of the pitch shafts, and its bottom end meshes with the pitch transition gear.

[0014] The beneficial effects of adopting the above-mentioned further scheme are: the pitch pinion and pitch transition gear are conducive to transmitting the power output by the pitch servo motor to the pitch sector gear, thereby driving the pitch sector gear and the pitch swing arm to swing synchronously, and cooperating with the pitch swing arm mounted on another support plate, which in turn helps to drive the equipment mounting platform to achieve pitch swing.

[0015] Furthermore, the housing also includes: a rocking frame, a base shell, and a base. The tilt sensor includes a first tilt sensor and a second tilt sensor. The first tilt sensor is disposed inside the base shell and fixedly installed on the base. The second tilt sensor is fixedly installed on the bottom surface of the fixed platform. Both the first tilt sensor and the second tilt sensor are electrically connected to the controller. The rocking frame and the base shell are both annular structures. The rocking frame is spaced and fitted onto the top of the base shell. The base is fixedly installed on the bottom of the base shell. The rocking frame is disposed below the fixed platform. The rocking frame and the base shell are rotatably connected via the lateral rocking mechanism. The rocking frame and the fixed platform are rotatably connected via the longitudinal rocking mechanism.

[0016] The beneficial effects of adopting the above-mentioned further scheme are as follows: the first tilt sensor is helpful in detecting the tilt state of the equipment vehicle, thereby providing a judgment condition for the controller to start the roll and pitch mechanisms; the second tilt sensor, by detecting the tilt angle of the fixed platform in real time, is helpful in providing a judgment condition for the controller to stop the roll and pitch mechanisms; the sway frame and the base shell are rotatably connected by the roll mechanism, and the sway frame and the fixed platform are rotatably connected by the pitch mechanism, which is helpful in achieving leveling of the fixed platform through roll and pitch.

[0017] Furthermore, the roll mechanism includes: a roll servo motor, a roll pinion, and a roll sector gear; the roll servo motor is disposed inside the base housing and fixedly mounted on the base; the roll pinion is rotatably mounted on the side wall of the base housing; a second swing arm extends downward from one side wall of the swing frame; the top end of the roll sector gear is fixedly mounted on the second swing arm; the output shaft of the roll servo motor is connected to the roll pinion for transmission; the roll pinion meshes with the bottom end of the roll sector gear; and the controller is electrically connected to the roll servo motor.

[0018] The beneficial effects of adopting the above-mentioned further solution are: the roll servo motor is conducive to driving the roll pinion to rotate, thereby driving the roll sector teeth to swing. The roll sector teeth are fixedly installed on the second swing arm, which is conducive to making the swing frame swing with the swing of the roll sector teeth, thereby realizing the leveling of the fixed platform.

[0019] Furthermore, the rocking mechanism also includes two symmetrically arranged rocking shafts, and the rocking frame and the base housing are rotatably connected through the two rocking shafts.

[0020] The beneficial effect of adopting the above-mentioned further scheme is that the two symmetrically arranged rocking axes are conducive to the relative lateral swing between the spaced-out rocking frame and the base shell under the driving force of the rocking servo motor, thereby realizing the leveling of the fixed platform.

[0021] Furthermore, the pitch mechanism includes: a pitch servo motor, a pitch pinion, and a pitch sector gear; the pitch servo motor is disposed inside the base housing and fixedly connected to the inner wall of the base housing; the pitch pinion is rotatably mounted on the side wall of the base housing; the side wall of the fixed platform extends downward and is provided with two symmetrical first swing arms; the top end of the pitch sector gear is fixedly mounted on one of the first swing arms; the output shaft of the pitch servo motor is drively connected to the pitch pinion; the pitch pinion meshes with the bottom end of the pitch sector gear; and the controller is electrically connected to the pitch servo motor.

[0022] The beneficial effects of adopting the above-mentioned further solution are: the pitch servo motor is conducive to driving the pitch pinion to rotate, thereby driving the pitch sector gear to swing. The pitch sector gear is fixedly installed on one of the first swing arms, which is conducive to the relative rotation between the swing frame and the fixed platform, thereby realizing the leveling of the fixed platform.

[0023] Furthermore, the pitch mechanism also includes two symmetrically arranged pitch axes, the first swing arm is disposed outside the swing frame, and the first swing arm and the swing frame are rotatably connected by the two pitch axes.

[0024] The beneficial effect of adopting the above-mentioned further scheme is that the two symmetrically arranged pitch axes facilitate relative rotation between the rocking frame and the fixed platform, thereby achieving leveling of the fixed platform. Attached Figure Description

[0025] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model; Figure 2 A schematic diagram showing the orientation mechanism and pitch mechanism provided in this embodiment of the utility model installed on the top of the housing; Figure 3 A schematic diagram of the orientation mechanism provided in this embodiment of the utility model; Figure 4 Schematic diagram of the pitch mechanism provided in the embodiment of this utility model Figure 1 ; Figure 5 Schematic diagram of the pitch mechanism provided in the embodiment of this utility model Figure 2 ; Figure 6 A schematic diagram showing the connection between the roll mechanism, the pitch mechanism, and the housing provided in an embodiment of this utility model; Figure 7 A schematic diagram showing the connection between the horizontal rocking mechanism, the vertical rocking mechanism, and the housing behind the concealed rocking frame and base shell provided in this embodiment of the utility model. Figure 8A schematic diagram of the relative rotational leveling and fixing platform between the swing frame and the base shell provided in this embodiment of the utility model; Figure 9 This is a schematic diagram of the relative rotation leveling platform between the swing frame and the fixed platform provided in an embodiment of the present invention.

[0026] Figure 1 , Figures 6 to 9 The arrows in the text indicate the three-dimensional direction of the swing; Figure 8 and Figure 9 The two overlapping rectangles at the bottom represent equipment vehicles.

[0027] The attached diagram lists the components represented by each number as follows: 1. Azimuth mechanism; 2. Pitch mechanism; 3. Roll mechanism; 4. Pitch mechanism; 5. Housing; 11. Azimuth servo motor; 12. Azimuth pinion; 13. Azimuth rotary bearing; 21. Pitch servo motor; 22. Pitch transmission assembly; 23. Support plate; 24. Equipment mounting platform; 31. Roll servo motor; 32. Roll pinion; 33. Roll sector gear; 34. Roll shaft; 41. Pitch servo motor; 42. Pitch pinion; 43. Pitch sector gear; 44. Pitch shaft; 51. Fixed platform; 52. Rotating platform; 53. Swing frame; 54. Base housing; 55. Base; 221. Pitch pinion; 222. Pitch transition gear; 223. Pitch sector gear; 224. Pitch shaft; 225. Pitch swing arm; 511. First swing arm; 531. Second swing arm. Detailed Implementation

[0028] The principles and features of this utility model are described below. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0029] like Figures 1 to 9 As shown, this embodiment provides a composite small vehicle-mounted four-axis servo stabilization platform, including: an orientation mechanism 1, a pitch mechanism 2, a roll mechanism 3, a pitch mechanism 4, a housing 5, and a controller; the roll mechanism 3 and the pitch mechanism 4 are both rotatably connected to the housing 5 and are used to adjust the tilt angle of the orientation mechanism 1 and the pitch mechanism 2. The orientation mechanism 1 and the pitch mechanism 2 are both mounted on the top of the housing 5. The orientation mechanism 1 is used to drive the pitch mechanism 2 to rotate. A tilt sensor for detecting the tilt angle of the orientation mechanism 1 and the pitch mechanism 2 is fixedly mounted on the housing 5. The controller is electrically connected to the tilt sensor, the orientation mechanism 1, the pitch mechanism 2, the roll mechanism 3, and the pitch mechanism 4.

[0030] It should be noted that in this embodiment, the controller is a PLC (Programmable Logic Controller) or a microcontroller, and the electrical connections and signal transmissions between the controller and the tilt sensor, the azimuth mechanism 1, the pitch mechanism 2, the roll mechanism 3 and the pitch mechanism 4 are all existing technologies. like Figure 1 , Figure 6 and Figure 7 As shown, the roll mechanism 3 is used to adjust the tilt angle of the azimuth mechanism 1 and the pitch mechanism 2 in the X-axis direction, the pitch mechanism 4 is used to adjust the tilt angle of the azimuth mechanism 1 and the pitch mechanism 2 in the Y-axis direction, and the azimuth mechanism 1 is used to drive the pitch mechanism 2 to rotate around the Z-axis.

[0031] The beneficial effects of this invention are as follows: the roll and pitch mechanisms facilitate the adjustment of the tilt angles of the azimuth and pitch mechanisms to horizontal by rolling and / or pitching when the tilt sensor detects a change in the tilt angle of the azimuth and pitch mechanisms on the housing, thus achieving a leveling function; the azimuth mechanism facilitates the circumferential rotation of the pitch mechanism and the vehicle-mounted servo system (such as a vehicle-mounted antenna servo system) mounted on the pitch mechanism, and the pitch mechanism facilitates the adjustment of the pitch angle of the vehicle-mounted servo system, thereby enabling the vehicle-mounted servo system to maintain the function of searching, capturing, and tracking targets even when the equipment vehicle is in a non-horizontal state; this invention avoids the inability of the vehicle-mounted servo system mounted on the pitch mechanism to maintain a horizontal working state due to the equipment vehicle being in a non-horizontal state (such as being impacted, bumped, or parked on an inclined road), eliminating the need for leveling legs on the equipment vehicle, solving the problem that traditional vehicle-mounted servo antenna mounts cannot automatically level and align, and enabling the servo antenna mount to autonomously isolate interference from the equipment vehicle, thus expanding its application scenarios.

[0032] Preferred, such as Figure 2 and Figure 3 As shown, the orientation mechanism 1 includes: an orientation servo motor 11, an orientation pinion 12, and an orientation rotary bearing 13; the top of the housing 5 is provided with a fixed platform 51 and a rotating platform 52, the rotating platform 52 is rotatably disposed above the fixed platform 51, the orientation servo motor 11 is fixedly mounted on the rotating platform 52, its output shaft is connected to the orientation pinion 12 for transmission, the orientation pinion 12 meshes with the outer ring of the orientation rotary bearing 13, the outer ring of the orientation rotary bearing 13 is fixedly mounted on the top of the fixed platform 51, its inner ring is fixedly connected to the rotating platform 52, and the controller is electrically connected to the orientation servo motor 11.

[0033] It should be noted that in this embodiment, the output shaft of the orientation servo motor 11 is connected to the orientation pinion 12 via a reducer.

[0034] The advantages of adopting the above preferred solution are: the azimuth servo motor is conducive to driving the azimuth pinion to rotate, thereby driving the azimuth slewing bearing and the rotating platform to rotate, thereby causing the pitch mechanism and the vehicle-mounted servo system installed on the pitch mechanism to rotate.

[0035] Preferred, such as Figure 3 As shown, the outer ring of the azimuth slewing bearing 13 is provided with a toothed structure that meshes with the azimuth pinion 12.

[0036] The advantages of adopting the above preferred solution are: the outer ring of the azimuth slewing bearing is provided with a toothed structure, which is conducive to the relative rotation of the inner and outer rings of the azimuth slewing bearing under the drive of the azimuth servo motor and the azimuth pinion, thereby causing the azimuth mechanism and the rotating platform to rotate around the fixed platform, and in turn driving the pitch mechanism and the vehicle-mounted servo system installed on the pitch mechanism to rotate.

[0037] Preferred, such as Figure 4 and Figure 5 As shown, the pitch mechanism 2 includes: a pitch servo motor 21, a pitch transmission assembly 22, two support plates 23, and an equipment mounting platform 24; the two support plates 23 are arranged opposite to each other, with their bottom ends fixedly mounted on the top of the rotating platform 52; the pitch transmission assembly 22 is rotatably mounted on the side wall of the support plate 23; the pitch servo motor 21 is fixedly mounted on the top of the rotating platform 52, and its output shaft is connected to the pitch transmission assembly 22; the equipment mounting platform 24 is rotatably arranged between the two support plates 23, with both ends connected to the pitch transmission assembly 22; and the controller is electrically connected to the pitch servo motor 21.

[0038] It should be noted that in this embodiment, the output shaft of the pitch servo motor 21 is connected to the pitch transmission assembly 22 via a reducer.

[0039] The advantages of adopting the above preferred solution are: the pitch servo motor facilitates the transmission of power to the equipment mounting platform through the pitch transmission component, so that the equipment mounting platform swings between two support plates, thereby driving the vehicle-mounted servo system (such as the vehicle-mounted antenna servo system) mounted on the equipment mounting platform to pitch and swing for attitude adjustment.

[0040] Preferred, such as Figure 4 and Figure 5As shown, the pitch transmission assembly 22 includes: a pitch pinion 221, a pitch transition gear 222, a pitch sector gear 223, two pitch shafts 224, and two pitch swing arms 225. The pitch pinion 221 and the pitch transition gear 222 are rotatably mounted on one side wall of one of the support plates 23. The output shaft of the pitch servo motor 21 is connected to the pitch pinion 221. The pitch pinion 221 meshes with the pitch transition gear 222. The top ends of the two pitch swing arms 225 are rotatably mounted on the opposite side walls of the two support plates 23 via the two pitch shafts 224. The two ends of the equipment mounting platform 24 are fixedly connected to the bottom ends of the two pitch swing arms 225. The top end of the pitch sector gear 223 is fixedly connected to one of the pitch shafts 224, and its bottom end meshes with the pitch transition gear 222.

[0041] It should be noted that in this embodiment, the top end of the pitch sector tooth 223 and the top end of one of the pitch swing arms 225 are fixedly sleeved on both ends of the pitch shaft 224, and the pitch shaft 224 can rotatably pass through one of the support plates 23. That is to say, when the pitch sector tooth 223 swings, it will drive the pitch swing arm 225 to swing synchronously through the pitch shaft 224. The pitch swing arm 225, which is fixedly connected to the pitch sector gear 223 via the pitch shaft 224, is the active pitch swing arm. The other pitch swing arm 225, which is rotatably mounted on the side wall of another support plate 23 via another pitch shaft 224, is the passive pitch swing arm.

[0042] The advantages of adopting the above-mentioned preferred scheme are: the pitch pinion and pitch transition gear are conducive to transmitting the power output by the pitch servo motor to the pitch sector gear, thereby driving the pitch sector gear and the pitch swing arm to swing synchronously, and cooperating with the pitch swing arm mounted on another support plate, which in turn helps to drive the equipment mounting platform to achieve pitch swing.

[0043] Preferred, such as Figure 6 and Figure 7As shown, the housing 5 further includes: a rocking frame 53, a base shell 54, and a base 55. The tilt sensor includes a first tilt sensor and a second tilt sensor. The first tilt sensor is disposed inside the base shell 54 and fixedly mounted on the base 55. The second tilt sensor is fixedly mounted on the bottom surface of the fixed platform 51. Both the first tilt sensor and the second tilt sensor are electrically connected to the controller. The rocking frame 53 and the base shell 54 are both annular structures. The rocking frame 53 is spaced out at the top of the base shell 54. The base 55 is fixedly mounted at the bottom of the base shell 54. The rocking frame 53 is disposed below the fixed platform 51. The rocking frame 53 and the base shell 54 are rotatably connected by the lateral rocking mechanism 3. The rocking frame 53 and the fixed platform 51 are rotatably connected by the longitudinal rocking mechanism 4.

[0044] The advantages of adopting the above-mentioned preferred scheme are: the first tilt sensor is helpful in detecting the tilt state of the equipment vehicle, thereby providing a judgment condition for the controller to start the roll and pitch mechanisms; the second tilt sensor, by detecting the tilt angle of the fixed platform in real time, is helpful in providing a judgment condition for the controller to stop the roll and pitch mechanisms; the sway frame and the base shell are rotatably connected by the roll mechanism, and the sway frame and the fixed platform are rotatably connected by the pitch mechanism, which is helpful in achieving leveling of the fixed platform through roll and pitch.

[0045] Preferred, such as Figure 7 As shown, the rocking mechanism 3 includes: a rocking servo motor 31, a rocking pinion 32, and a rocking sector gear 33; the rocking servo motor 31 is disposed inside the base housing 54 and fixedly mounted on the base 55; the rocking pinion 32 is rotatably mounted on the side wall of the base housing 54; a second swing arm 531 extends downward from one side wall of the rocking frame 53; the top end of the rocking sector gear 33 is fixedly mounted on the second swing arm 531; the output shaft of the rocking servo motor 31 is connected to the rocking pinion 32; the rocking pinion 32 meshes with the bottom end of the rocking sector gear 33; and the controller is electrically connected to the rocking servo motor 31.

[0046] The advantages of adopting the above preferred solution are: the lateral servo motor is conducive to driving the lateral pinion to rotate, thereby driving the lateral sector teeth to swing. The lateral sector teeth are fixedly installed on the second swing arm, which is conducive to making the swing frame swing with the swing of the lateral sector teeth, thereby realizing the leveling of the fixed platform.

[0047] Preferred, such as Figure 7As shown, the rocking mechanism 3 also includes two symmetrically arranged rocking shafts 34, and the rocking frame 53 and the base housing 54 are rotatably connected by the two rocking shafts 34.

[0048] The advantages of adopting the above preferred scheme are: the two symmetrically arranged rocking axes facilitate the relative lateral swing between the spaced-out rocking frame and the base shell under the driving force of the rocking servo motor, thereby achieving the leveling of the fixed platform.

[0049] Preferred, such as Figure 7 As shown, the pitch mechanism 4 includes: a pitch servo motor 41, a pitch pinion 42, and a pitch sector gear 43; the pitch servo motor 41 is disposed inside the base housing 54 and is fixedly connected to the inner wall of the base housing 54; the pitch pinion 42 is rotatably mounted on the side wall of the base housing 54; the side wall of the fixed platform 51 extends downward and is provided with two symmetrical first swing arms 511; the top end of the pitch sector gear 43 is fixedly mounted on one of the first swing arms 511; the output shaft of the pitch servo motor 41 is connected to the pitch pinion 42; the pitch pinion 42 meshes with the bottom end of the pitch sector gear 43; and the controller is electrically connected to the pitch servo motor 41.

[0050] The advantages of adopting the above preferred solution are: the pitch servo motor is conducive to driving the pitch pinion to rotate, thereby driving the pitch sector gear to swing. The pitch sector gear is fixedly installed on one of the first swing arms, which is conducive to the relative rotation between the swing frame and the fixed platform, thereby realizing the leveling of the fixed platform.

[0051] Preferred, such as Figure 7 As shown, the pitch mechanism 4 also includes two symmetrically arranged pitch shafts 44. The first swing arm 511 is disposed on the outside of the swing frame 53, and the first swing arm 511 and the swing frame 53 are rotatably connected by the two pitch shafts 44.

[0052] It should be noted that in this embodiment, both the rocking frame 53 and the base shell 54 are square ring structures. The rocking frame 53 is spaced out and fitted onto the top of the base shell 54. The two pitch axes 44 are arranged on two symmetrical side walls of the rocking frame 53, and the two roll axes 34 are arranged on two other symmetrical side walls of the rocking frame 53. That is, the line connecting the two pitch axes 44 and the line connecting the two roll axes 34 are perpendicular to each other in space.

[0053] The advantages of adopting the above-mentioned preferred scheme are: the two symmetrically arranged pitch axes facilitate relative rotation between the rocking frame and the fixed platform, thereby achieving leveling of the fixed platform.

[0054] The working process of this embodiment is described below: like Figures 1 to 9 As shown, when the equipment vehicle is in a non-level state (such as being impacted, bumped, or parked on an inclined road surface), the first tilt sensor and the second tilt sensor simultaneously detect the tilt angle. At this time, the controller controls the roll servo motor 31 and / or the pitch servo motor 41 to start. The roll servo motor 31 drives the roll pinion 32 to rotate. The roll pinion 32 meshes with the roll sector gear 33, thereby driving the swing frame 53 and the base shell 54 to rotate relative to each other around the roll axis 34. The pitch servo motor 41 drives the pitch pinion 42 to rotate. The pitch pinion 42 meshes with the pitch sector gear 43, thereby driving the swing frame 53 and the fixed platform 51 to rotate relative to each other around the pitch axis 44 until the second tilt sensor detects that the tilt angle is zero, indicating that the fixed platform 51 has been leveled. At this time, the controller controls the roll servo motor 31 and / or the pitch servo motor 41 to stop working. When the second tilt sensor detects a tilt angle of zero, the controller activates the azimuth servo motor 11 and the pitch servo motor 21. The azimuth servo motor 11 drives the azimuth pinion 12 to rotate. The azimuth pinion 12 meshes with the outer ring of the azimuth slewing bearing 13, thereby driving the outer ring and inner ring of the azimuth slewing bearing 13 to rotate relative to each other. Since the outer ring of the azimuth slewing bearing 13 is fixedly mounted on the top of the fixed platform 51, and its inner ring is fixedly connected to the rotating platform 52, and the azimuth servo motor 11 is fixedly mounted on the rotating platform 52, the azimuth mechanism 1 and the rotating platform 52 will rotate as a whole relative to the fixed platform 51. When the rotating platform 52 rotates, it will synchronously drive the pitch mechanism 2. During the rotation, the pitch servo motor 21 drives the pitch pinion 221 to rotate. The pitch pinion 221 drives the pitch sector gear 223 to swing through the sequential meshing of the pitch transition gear 222 and the pitch sector gear 223. The pitch sector gear 223 will drive one of the pitch swing arms 225 to swing synchronously. Together with another pitch swing arm 225 that is rotatably mounted on another support plate 23, the equipment mounting platform 24 and the vehicle servo system (such as the vehicle antenna servo system) mounted on it will be driven by the pitch swing arm 225 to perform pitch swing. Ultimately, the vehicle servo system can maintain the function of searching, capturing and tracking the target even when the equipment vehicle is in a non-horizontal state.

[0055] Common vehicle-mounted antenna servo systems (azimuth-elevation type) require leveling legs to be installed on the vehicle. When parked, the leveling legs automatically level the vehicle body before the servo system can start working; when in motion, the servo system does not work. In this embodiment, a roll-pitch stabilizing platform is used as the base of the azimuth-elevation antenna mount. This combined design enables the servo antenna mount to have its own leveling and stabilizing function, eliminating the need for additional leveling legs on the vehicle. Furthermore, when the vehicle is in motion, it is susceptible to impacts and bumps. When the tilt sensor detects a change in angle, the controller quickly controls the servo motors in the roll and pitch mechanisms to perform self-leveling, ensuring that the equipment can still operate normally without being affected by the environment while in motion.

[0056] Under the condition of meeting the rigidity requirements, the entire servo stabilization platform weighs no more than 50kg and occupies only 0.25㎡. It has a compact structure, is lightweight, and is easy to transport. It is not only suitable for vehicle-mounted installations, but can also be used as an antenna servo system for placement and relocation equipment. This embodiment adopts a combination design of a roll-pitch stabilization platform and an azimuth-elevation antenna mount to form a servo stabilization platform with four-axis movement. This solves the problem that traditional vehicle-mounted servo antenna mounts cannot automatically level and align, enabling the servo antenna mount to autonomously isolate the interference of the carrier and making it more widely applicable.

[0057] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0062] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A composite small vehicle-mounted four-axis servo stabilization platform, characterized in that, include: The device comprises an azimuth mechanism (1), a pitch mechanism (2), a roll mechanism (3), a pitch mechanism (4), a housing (5), and a controller. The roll mechanism (3) and the pitch mechanism (4) are rotatably connected to the housing (5) and are used to adjust the tilt angle of the azimuth mechanism (1) and the pitch mechanism (2). The azimuth mechanism (1) and the pitch mechanism (2) are both mounted on the top of the housing (5). The azimuth mechanism (1) is used to drive the pitch mechanism (2) to rotate. An angle sensor for detecting the tilt angle of the azimuth mechanism (1) and the pitch mechanism (2) is fixedly mounted on the housing (5). The controller is electrically connected to the angle sensor, the azimuth mechanism (1), the pitch mechanism (2), the roll mechanism (3), and the pitch mechanism (4).

2. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 1, characterized in that, The orientation mechanism (1) includes: an orientation servo motor (11), an orientation pinion (12), and an orientation rotary bearing (13); the top of the housing (5) is provided with a fixed platform (51) and a rotating platform (52), the rotating platform (52) is rotatably disposed above the fixed platform (51), the orientation servo motor (11) is fixedly mounted on the rotating platform (52), its output shaft is connected to the orientation pinion (12) for transmission, the orientation pinion (12) meshes with the outer ring of the orientation rotary bearing (13), the outer ring of the orientation rotary bearing (13) is fixedly mounted on the top of the fixed platform (51), its inner ring is fixedly connected to the rotating platform (52), and the controller is electrically connected to the orientation servo motor (11).

3. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 2, characterized in that, The outer ring of the azimuth slewing bearing (13) is provided with a toothed structure that meshes with the azimuth pinion (12).

4. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 2, characterized in that, The pitch mechanism (2) includes: a pitch servo motor (21), a pitch transmission assembly (22), two support plates (23), and an equipment mounting platform (24); the two support plates (23) are arranged opposite to each other, and their bottom ends are fixedly installed on the top of the rotating platform (52). The pitch transmission assembly (22) is rotatably installed on the side wall of the support plate (23). The pitch servo motor (21) is fixedly installed on the top of the rotating platform (52), and its output shaft is connected to the pitch transmission assembly (22). The equipment mounting platform (24) is rotatably arranged between the two support plates (23), and both ends of it are connected to the pitch transmission assembly (22). The controller is electrically connected to the pitch servo motor (21).

5. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 4, characterized in that, The pitch transmission assembly (22) includes: a pitch pinion (221), a pitch transition gear (222), a pitch sector gear (223), two pitch shafts (224), and two pitch swing arms (225); the pitch pinion (221) and the pitch transition gear (222) are both rotatably mounted on one side wall of one of the support plates (23), and the output shaft of the pitch servo motor (21) is connected to the pitch pinion (221) in a transmission connection. The pitch transition gear (222) meshes, and the top ends of the two pitch swing arms (225) are rotatably mounted on the side walls of the two support plates (23) on opposite sides via the two pitch shafts (224). The two ends of the equipment mounting platform (24) are fixedly connected to the bottom ends of the two pitch swing arms (225) respectively. The top end of the pitch sector gear (223) is fixedly connected to one of the pitch shafts (224), and its bottom end meshes with the pitch transition gear (222).

6. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 2, characterized in that, The housing (5) further includes: a rocking frame (53), a base shell (54), and a base (55). The tilt sensor includes a first tilt sensor and a second tilt sensor. The first tilt sensor is disposed inside the base shell (54) and fixedly installed on the base (55). The second tilt sensor is fixedly installed on the bottom surface of the fixed platform (51). Both the first tilt sensor and the second tilt sensor are electrically connected to the controller. The rocking frame (53) and the base shell (54) are both annular structures. The rocking frame (53) is spaced and sleeved on the top of the base shell (54). The base (55) is fixedly installed on the bottom of the base shell (54). The rocking frame (53) is disposed below the fixed platform (51). The rocking frame (53) and the base shell (54) are rotatably connected by the lateral rocking mechanism (3). The rocking frame (53) and the fixed platform (51) are rotatably connected by the longitudinal rocking mechanism (4).

7. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 6, characterized in that, The rocking mechanism (3) includes: a rocking servo motor (31), a rocking pinion (32), and a rocking sector gear (33); the rocking servo motor (31) is disposed inside the base housing (54) and fixedly mounted on the base (55); the rocking pinion (32) is rotatably mounted on the side wall of the base housing (54); a second swing arm (531) extends downward from one side wall of the rocking frame (53); the top end of the rocking sector gear (33) is fixedly mounted on the second swing arm (531); the output shaft of the rocking servo motor (31) is connected to the rocking pinion (32) for transmission; the rocking pinion (32) meshes with the bottom end of the rocking sector gear (33); and the controller is electrically connected to the rocking servo motor (31).

8. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 6, characterized in that, The rocking mechanism (3) also includes two symmetrically arranged rocking shafts (34), and the rocking frame (53) and the base shell (54) are rotatably connected by the two rocking shafts (34).

9. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 6, characterized in that, The pitch mechanism (4) includes: a pitch servo motor (41), a pitch pinion (42), and a pitch sector gear (43); the pitch servo motor (41) is disposed inside the base housing (54) and is fixedly connected to the inner wall of the base housing (54); the pitch pinion (42) is rotatably mounted on the side wall of the base housing (54); the side wall of the fixed platform (51) extends downward and is provided with two symmetrical first swing arms (511); the top end of the pitch sector gear (43) is fixedly mounted on one of the first swing arms (511); the output shaft of the pitch servo motor (41) is connected to the pitch pinion (42) for transmission; the pitch pinion (42) meshes with the bottom end of the pitch sector gear (43); and the controller is electrically connected to the pitch servo motor (41).

10. The composite small vehicle-mounted four-axis servo stabilization platform according to claim 9, characterized in that, The pitch mechanism (4) further includes two symmetrically arranged pitch shafts (44), the first swing arm (511) is arranged outside the swing frame (53), and the first swing arm (511) and the swing frame (53) are rotatably connected by the two pitch shafts (44).

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