A T-shaped two-dimensional turntable for carrying an astronomical telescope

Abstract

The application is a T-shaped two-dimensional rotary table for carrying an astronomical telescope, belonging to the field of astronomical observation equipment, and is proposed in view of the defects of the traditional theodolite, such as limited carrying, complicated operation, poor positioning accuracy and the like, which comprises a driving mechanism for providing rotary driving force for two external devices for establishing connection, a mechanical mechanism and a control mechanism, the mechanical mechanism is arranged in a T shape as a whole, and comprises a vertical mechanism, a horizontal mechanism and a carrying platform, the vertical mechanism comprises a bearing bottom plate and a vertical supporting shaft, the horizontal mechanism comprises a horizontal supporting shaft and a weight rod located at one end of the horizontal supporting shaft, and the vertical supporting shaft and the horizontal supporting shaft are connected in vertical rotation through the driving mechanism; the other end of the horizontal mechanism is coaxially connected in rotation with the carrying platform through the driving mechanism; the control mechanism controls the pointing of the platform through the driving mechanism based on the real-time posture and position information of the platform provided by a detection unit. The carrying capacity of the rotary table is enhanced, and the control is intelligent.

Description

Technical Field

[0001] This invention belongs to the field of astronomical observation equipment technology, specifically relating to a T-shaped two-dimensional turntable for supporting astronomical telescopes. Background Technology

[0002] In astronomical observation and photography, the Earth's rotation occurs once every 24 hours, causing celestial objects to appear to rise in the east and set in the west. If a camera is fixed in place, celestial objects will appear as "trailing lines" under long exposures. To counteract the Earth's rotation, observers need to use an astronomical turntable. By driving the turntable in the opposite direction, the telescope or camera can be continuously pointed at the target celestial object to obtain a clear image.

[0003] Currently, commercially available two-dimensional astronomical turntables are mainly divided into two categories based on their axis system design: horizontal turntables and equatorial turntables. The axis system of a horizontal turntable consists of mutually perpendicular azimuth and altitude axes. The non-uniform coordinated motion of these two axes, controlled by a computer, enables celestial pointing and tracking. The axis system of an equatorial turntable consists of a right ascension axis (polar axis) and a declination axis. During installation, the right ascension axis must be precisely aligned with the North Celestial Pole (or the South Celestial Pole in the Southern Hemisphere). Tracking is achieved through uniform rotation of a single axis, effectively avoiding image field rotation, making it the preferred solution for deep-sky photography.

[0004] For amateur observers and those in science education, turntables are typically easy to transport and install. Taking altazimuth turntables as an example, these types of turntables still have the following significant drawbacks: First, their load-bearing capacity is limited, with most having a load capacity below 50 kg. Second, precise positioning is a prerequisite for their use, requiring users to possess professional astronomical knowledge and undergo repeated adjustments; otherwise, tracking accuracy will be severely affected. Furthermore, before operation, the geographical coordinates, time zone, and local time of the observation location must be manually set; any incorrect settings will lead to positioning failure. Third, existing turntables mostly rely on the pulse count of the drive motor or the encoder at the motor end to indirectly estimate the position, while no encoder is directly installed on the driven shaft for measuring the actual rotation angle. Because errors such as gear backlash and mechanical deformation cannot be directly detected and compensated for, there is a deviation between the actual pointing and the theoretical position of the turntable. Observers must manually calibrate to compensate for the "zero-point deviation" of the shaft system; otherwise, precise pointing and stable tracking cannot be achieved. Fourth, limited by the rotation speed and control strategy of the dual axes, existing turntables can only track celestial bodies with apparent slow motion, and cannot effectively track targets such as artificial satellites and space stations moving at high speeds in near-Earth orbit, thus limiting their application scenarios. Summary of the Invention

[0005] To overcome the shortcomings of existing popular science-grade astronomical turntables in terms of ease of use, accuracy, and functionality, this invention provides a T-shaped two-dimensional turntable for supporting astronomical telescopes. Through structural improvements, the overall pointing and tracking accuracy of the turntable is enhanced.

[0006] The technical solution adopted in this invention is as follows: a T-shaped two-dimensional turntable for supporting an astronomical telescope, comprising: a drive mechanism, a mechanical mechanism, and a control mechanism. The drive mechanism provides rotational driving force for two external devices that are connected, and is a worm gear rotational drive device composed of a worm gear rotational support ring, a worm, and a power source. The power source is a motor, and the motor provides the driving force required for rotation to the worm gear rotational support ring through the worm. The mechanical mechanism is arranged in a T-shape and includes a vertical mechanism, a horizontal mechanism, and a loading platform. The vertical mechanism includes a load-bearing base plate and a vertical support shaft vertically mounted on the load-bearing base plate. The horizontal mechanism includes a horizontal support shaft and a counterweight rod located at one end of the horizontal support shaft. The middle part of the vertical support shaft and the horizontal support shaft are vertically rotatably connected via a drive mechanism. The other end of the horizontal mechanism away from the counterweight rod is coaxially rotatably connected to the loading platform via a drive mechanism. The control mechanism includes a detection unit and a control unit. Based on the real-time attitude and position information of the platform provided by the detection unit, the control unit adjusts the platform through the drive mechanism to make it point in the target direction.

[0007] Preferably, the output end of the motor is connected to the power input end of the worm, the output end of the worm meshes with the worm wheel ring of the worm wheel type rotary support ring, the worm wheel ring is fixed to the rotary platform, an inner ring is sleeved inside the worm wheel ring, the inner ring and the worm wheel ring are rotaryly connected by ball bearings, and the inner ring is fixed inside the housing of the rotary drive device.

[0008] Preferably, the detection unit includes an encoder, an inertial measurement module, and a GPS module. The encoder is installed on the rotary platform of each drive mechanism, the inertial measurement module is installed on the rotary platform of the drive mechanism at the end of the horizontal support shaft, and the GPS module is installed on the horizontal support shaft.

[0009] Preferably, the GPS module is installed coaxially with the vertical support axis.

[0010] Preferably, the vertical support shaft axis is collinear with the center of the load-bearing base plate.

[0011] Preferably, the load-bearing base plate is a circular or rectangular plate.

[0012] Preferably, reinforcing ribs are provided on the outer periphery of the vertical support shaft and the load-bearing base plate.

[0013] Preferably, the horizontal support shaft is coaxially fixed with the counterweight rod, and counterweights of different weights can be fitted onto the counterweight rod.

[0014] Preferably, a plurality of mounting and positioning holes for fixing equipment are provided on the mounting surface of the loading platform.

[0015] Preferably, the loading platform is rectangular.

[0016] The beneficial effects of this invention are: 1. This utility model significantly increases the overall load-bearing capacity of the turntable to 100-200kg through a stable T-shaped structure, while occupying little space at the bottom.

[0017] 2. The vertical mechanism and the horizontal mechanism, as well as the horizontal mechanism and the loading platform of this utility model, are all connected by a drive mechanism to achieve rotation. The drive mechanism adopts a worm gear rotation drive device, which integrates the load-bearing and driving functions into one, eliminating the need for a separate traditional load-bearing shaft system and bearing combination, thereby making the overall structure of the turntable more compact and the transmission chain more simplified.

[0018] 3. The detection unit of this utility model uses a variety of sensors, enabling the turntable to have the ability to sense and adjust itself. By directly sensing its own structural deformation and posture changes, it realizes closed-loop control from "sensing-calibration-compensation".

[0019] 4. This utility model, through its modular design, makes the equipment easy to assemble and disassemble, easy to package, transport and store, and reduces the space occupied. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 for Figure 1 Side view; The components include: 1. Guide camera, 2. First drive mechanism, 3. First encoder, 4. Second encoder, 5. Carrying platform, 6. Connecting flange, 7. Vertical support shaft, 8. Load-bearing base plate, 9. Motion sensor, 10. GPS module, 11. Horizontal support shaft, 12. Second drive mechanism, and 13. Counterweight rod. Detailed Implementation

[0021] A T-shaped two-dimensional turntable for supporting astronomical telescopes is designed with a horizontal turntable structure and a modular design concept. It mainly consists of three modules: a mechanical mechanism, a drive mechanism, and a control mechanism. Each module, when separated, is disc-shaped or cylindrical, occupying little space and facilitating packaging and transportation. Furthermore, each module weighs less than 20 kg, and the total assembled weight is less than 100 kg.

[0022] like Figure 1 and Figure 2 As shown, the drive mechanism provides rotational force and is required to withstand axial force, radial force, and overturning moment simultaneously. A worm gear rotary drive is preferred, where power is transmitted and rotational motion is achieved through the meshing of the worm wheel and worm. This device is a mature existing technology. The worm gear rotary drive mainly consists of a worm gear rotary support ring, a worm, and a power source. The power source is a motor, and the output end of the motor is connected to the power input end of the worm. The worm gear rotary support ring includes a worm wheel ring and an inner ring sequentially nested from the outside to the inside. The output end of the worm meshes with the worm wheel ring of the worm gear rotary support ring. The worm wheel ring is fixed to a rotary platform used to establish connections with other external devices. The inner ring and the worm wheel ring are rotaryly connected via ball bearings. The inner ring is fixed inside the housing of the rotary drive device, which can be directly or indirectly connected to other external devices via a flange. In this embodiment, to achieve a strong output torque, a DC stepper motor is preferred. To facilitate the distinction between the described objects, the drive mechanisms are divided into a first drive mechanism 2 and a second drive mechanism 12 based on their installation positions. These divisions do not have any sequential or technical significance, and the first drive mechanism 2 and the second drive mechanism 12 have identical structures.

[0023] The mechanical mechanism, used to support the various components, is T-shaped and includes a vertical mechanism, a horizontal mechanism, and a carrying platform. The horizontal mechanism is horizontally positioned and coaxially connected to the carrying platform 5 via a first drive mechanism 2. The vertical mechanism is vertically connected to the horizontal mechanism via a second drive mechanism 12, providing stable bottom support for both the horizontal mechanism and the carrying platform 5. Specifically: The vertical mechanism includes a vertical support shaft 7 and a load-bearing base plate 8. The load-bearing base plate 8 is placed on a horizontal surface and is in the shape of a horizontal plate, such as rectangular or circular. To increase the contact area with the ground, the load-bearing base plate 8 is preferably rectangular. When selecting materials for the load-bearing base plate 8, its mechanical properties are fully considered. For example, the yield strength of the material must meet the stress requirements of the equipment it supports. From this perspective, structural steel plates, alloy steel plates, aluminum alloy plates, carbon fiber plates, polyamide plates, etc., can be selected. The axis of the vertical support shaft 7 is collinear with the center of the load-bearing base plate 8. To improve the structural rigidity, reinforcing ribs are provided on the outer periphery where the vertical support shaft 7 and the load-bearing base plate 8 are fixed. The vertical mechanism provides stable bottom support for the upper horizontal mechanism.

[0024] The horizontal mechanism includes a horizontal support shaft 11 and a counterweight rod 13. The horizontal support shaft 11 is a solid shaft perpendicular to the vertical support shaft 7, and its middle part is connected to the vertical support shaft 7 in a T-shape through a second drive mechanism 12. Specifically, the lower part of the horizontal support shaft 11 is fixed to the rotary platform of the second drive mechanism 12, and the top of the vertical support shaft 7 is fixed to the housing of the second drive mechanism 12 through a connecting flange 6. When the second drive mechanism 12 is activated, it can drive the horizontal support shaft 11 to perform a horizontal rotational movement.

[0025] One end of the horizontal support shaft 11 is coaxially rotaryly connected to the carrying platform 5 via the first drive mechanism 2. Specifically, one end of the horizontal support shaft 11 is fixed to the housing of the first drive mechanism 2, and the back of the carrying platform 5 is fixed to the rotary platform of the first drive mechanism 2. The front side (i.e., the mounting surface) of the carrying platform 5 is used to mount equipment such as the guide camera 1, guide mirror, and telescope, and multiple positioning holes for fixing the equipment are also provided on the front side of the platform. The other end of the horizontal support shaft 11 is fixed with a counterweight rod 13 coaxially fixed to the horizontal support shaft 11, and the counterweight rod 13 is used to cooperate with the counterweight. By applying a reverse balancing torque to one end of the horizontal support shaft 11, the static and dynamic balance of the system is achieved, overcoming the risk of overturning caused by the center of gravity shift, and improving the stability and smoothness of the operation of the horizontal support shaft 11.

[0026] The control mechanism is used to issue commands to control the drive mechanism based on the information acquired by the sensor, and it includes a detection unit and a control unit.

[0027] The detection unit is used to acquire and feedback various information from the turntable and output it to the control unit. Specifically, it includes an encoder, an inertial measurement module 9, and a GPS module 10. The encoder is used to acquire and feedback real-time information such as the actual position and speed of the horizontal support shaft 11 and the vertical support shaft 7, converting and outputting it as an electrical signal that can be read by the control unit. Depending on their installation location, they are defined as the first encoder 3 and the second encoder 4. The first encoder 3 is installed on the rotary platform of the first drive mechanism 2; similarly, the second encoder 4 is installed on the rotary platform of the second drive mechanism 12, in a similar location. To achieve real-time and accurate monitoring of the turntable's attitude, a magnetic grating absolute encoder is preferred as the position detection element. Based on its unique position code, this element can output the absolute position information of the turntable in real time, thus possessing the characteristics of maintaining position even when powered off, not requiring zeroing upon power-on, and reliable data. Compared to the incremental encoders commonly used in existing turntables, which require manual intervention to find the zero point after each turntable shutdown or unexpected power failure before normal operation, the magnetic grating absolute encoder system is safer, provides more reliable data, and is more convenient to operate.

[0028] The inertial measurement module 9 is used to measure physical quantities such as the angular velocity of the horizontal support shaft 11 and the linear acceleration of the vertical support shaft 7 in real time, thereby obtaining the three-dimensional attitude information of the current dual axes of the turntable. This module converts this attitude information into an electrical signal that can be read by the control unit. The inertial measurement module 9 can be selected from, but is not limited to, existing products, such as inertial sensors. The inertial measurement module 9 is installed on the output end of the first drive mechanism 2 (i.e., the worm gear output end housing).

[0029] The GPS module 10 is specifically a GPS sensor, used to automatically acquire geographical information, time zone, and current precise time of the observation location, and convert this information into electrical signals that can be read by the control unit, thereby enabling the turntable to have the ability to sense geographical information on its own. The GPS module 10 is installed on the outer wall of, but not limited to, the horizontal support shaft 11, and preferably, it is coaxially arranged with the vertical support shaft 7.

[0030] The control unit is a built-in microprocessor storing a celestial database. It receives all data from the encoder, inertial measurement module 9, and GPS module 10. Based on the position and time provided by the GPS module 10 and the attitude provided by the inertial measurement module 9, and combined with the built-in celestial database, it calculates the precise position of the target celestial body in real time. The calculated target position is compared with the actual position fed back by the encoder, generating control commands to move the drive mechanism towards the target. During tracking, the drive mechanism is continuously driven at stellar speed, and real-time fine-tuning is performed based on feedback from the guide camera 1 or the encoder. Simultaneously, it processes commands issued by the user through a handheld controller or computer software, etc., via human-computer interaction modules.

[0031] Work process: The first step is assembly.

[0032] First, the vertical mechanism is placed on a horizontal base. The horizontal support shaft 11 is connected to the vertical support shaft 7 through the second drive mechanism 12. Then, the carrying platform 5 is connected to the end of the horizontal support shaft 11 through the first drive mechanism 2. The guide camera 1 and other equipment are then installed on the carrying platform 5. At the same time, the weight of the counterweight on the counterweight rod 13 is adjusted to keep the horizontal support shaft 11 horizontal with the ground.

[0033] The second step is initialization.

[0034] The detection unit is activated and performs a self-test. When the GPS module 10 is activated, it automatically receives satellite signals and obtains information such as the precise latitude and longitude, altitude, time zone, and current precise time of the current observation location. When the encoder is activated, it obtains the current absolute angle values ​​of the right ascension axis and declination axis. When the inertial measurement module 9 is activated, it senses its own attitude, obtains its current horizontal tilt angle, and roughly senses its north-south orientation, establishing accurate initial data for subsequent movement.

[0035] The third step is intelligent calibration.

[0036] After the information is fed back to the control unit, based on the position information provided by the GPS module 10 and the current direction of the guiding camera fed back by the inertial measurement module 9, the drive mechanism is controlled to move, automatically completing the horizontal adjustment and mechanical zero-point positioning of the turntable. During the adjustment process, the encoder is used to ensure that the motor in the drive mechanism can accurately rotate the corresponding support shaft to the position required by the command, and finally realize the zero-point alignment between the turntable coordinate system and the celestial coordinate system, establishing an accurate spatial reference for the precise pointing and tracking of celestial bodies.

[0037] By capturing images with a guide camera, the control unit uses star map recognition technology to accurately calculate the actual center position of the calibration star in the field of view. The control unit compares the data fed back from the detection unit with the calibration target; the difference is the error. It then controls the motors in the drive mechanism to start, driving the corresponding support shafts to point to the calibration position. During adjustment, the control unit uses the current coordinates and drives the motors to point towards the target. The inertial measurement module 9 provides real-time attitude feedback during this adjustment process, and the encoder provides real-time, high-precision position feedback to ensure that the observation equipment can move quickly and accurately to the target position. Because the rotation speed of existing popular science-grade two-dimensional turntables is relatively slow, they can only track celestial bodies or slow-moving targets. In this embodiment, the control unit receives feedback signals from the detection unit in real time and sends control commands to the drive mechanism accordingly, driving the turntable to quickly position itself to the expected observation location.

[0038] The above description is merely a preferred embodiment of the present invention. These specific embodiments are different implementations based on the overall concept of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A T-shaped two-dimensional turntable for supporting an astronomical telescope, characterized in that, include: Drive mechanism, mechanical mechanism and control mechanism, The drive mechanism, which provides rotational driving force for the two external devices that establish a connection, is a worm gear rotational drive device consisting of a worm gear rotational support ring, a worm, and a power source. The power source is a motor, which provides the required rotational driving force to the worm gear rotational support ring through the worm. The mechanical mechanism is arranged in a T-shape and includes a vertical mechanism, a horizontal mechanism, and a loading platform (5). The vertical mechanism includes a load-bearing base plate (8) and a vertical support shaft (7) vertically mounted on the load-bearing base plate (8). The horizontal mechanism includes a horizontal support shaft (11) and a counterweight rod (13) located at one end of the horizontal support shaft (11). The middle part of the vertical support shaft (7) and the horizontal support shaft (11) are connected vertically and rotatably through a drive mechanism. The other end of the horizontal mechanism away from the counterweight rod (13) is connected coaxially and rotatably to the loading platform (5) through a drive mechanism. The control mechanism includes a detection unit and a control unit. Based on the real-time attitude and position information of the platform provided by the detection unit, the control unit adjusts the platform through the drive mechanism to make it point in the target direction.

2. The T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 1, characterized in that: The output end of the motor is connected to the power input end of the worm, and the output end of the worm meshes with the worm wheel ring of the worm wheel type rotary support ring. The worm wheel ring is fixed to the rotary platform. An inner ring is sleeved inside the worm wheel ring. The inner ring and the worm wheel ring are rotated through ball bearings. The inner ring is fixed inside the housing of the rotary drive device.

3. The T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 1, characterized in that: The detection unit includes an encoder, an inertial measurement module (9) and a GPS module (10). The encoder is installed on the rotary platform of each drive mechanism, the inertial measurement module (9) is installed on the rotary platform of the drive mechanism at the end of the horizontal support shaft (11), and the GPS module (10) is installed on the horizontal support shaft (11).

4. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 3, characterized in that: The GPS module (10) is installed coaxially with the vertical support axis (7).

5. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 1, characterized in that: The vertical support shaft (7) is collinear with the center of the load-bearing base plate (8).

6. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 5, characterized in that: The load-bearing base plate (8) is a circular or rectangular plate.

7. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 6, characterized in that: Reinforcing ribs are provided on the outer periphery of the vertical support shaft (7) and the load-bearing base plate (8).

8. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 1, characterized in that: The horizontal support shaft (11) is fixed coaxially with the counterweight rod (13), and different weights of counterweights can be fitted on the counterweight rod (13).

9. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in any one of claims 1-8, characterized in that: Multiple mounting and positioning holes for fixing equipment are provided on the mounting surface of the loading platform (5).

10. A T-shaped two-dimensional turntable for supporting an astronomical telescope as described in claim 9, characterized in that: The cargo platform (5) is rectangular.

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