CN112166678B

CN112166678B - Laser mine sweeping rotary table

Info

Publication number: CN112166678B
Application number: CN200910121620.XA
Authority: CN
Inventors: 罗凌江; 周存昌; 刘启辉; 彭福红; 向学辅; 骆云志; 温江波; 陈阳; 王建明; 欧阳长青; 周晓华
Original assignee: No58 Institute Of China North Industries Group Corp
Current assignee: No58 Institute Of China North Industries Group Corp
Priority date: 2009-06-12
Filing date: 2009-06-12
Publication date: 2013-01-16
Anticipated expiration: 2029-06-12

Abstract

The invention relates to a laser mine sweeping rotary table. The turntable comprises an inner frame servo system, an outer frame servo system and an azimuth servo system. The rotation axes of the inner frame servo system and the outer frame servo system are overlapped and rotate according to the angle relation of the proportion of 1: 2 or a specific proportion, so that the high-power laser reflected by the reflector, the camera and the laser range finder point to the same target. The inner frame servo system and the outer frame servo system are fixed on a gear of the azimuth servo system through a U-shaped support and rotate along with the gear. The invention has simple structure and high reliability.

Description

Laser mine sweeping rotary table

Technical Field

The invention belongs to the technical field of rotating devices for weapons, and particularly relates to a laser mine sweeping rotary table. The invention is suitable for laser mine-sweeping weapons.

Background

At present, the common weapon carrying rotary table is constructed by fixing the carried equipment on the same frame, and each device performs the pitching rotation with the same speed and the same angle along with a servo system. However, such a device cannot be used in a laser paravane, where a high-power laser beam is reflected by a reflecting mirror, and the reflecting light is deflected by an angle of 2 Δ α with respect to the incident light when the reflecting mirror is rotated by an angle Δ α according to the angular relationship between the incident light and the reflecting light. If the reflector, the camera and the laser range finder are arranged on the same servo system, the rotation angle of the camera and the laser range finder is delta alpha, so that the reflected laser light and the light paths of the camera and the laser range finder have an angle deviation delta alpha. The result is that the target at which the laser is directed is not the target that is observed, causing errors.

Disclosure of Invention

The invention aims to provide a laser minesweeping rotary table.

The azimuth servo system of the laser mine sweeping rotary table is arranged at the bottom, the outer frame servo system is arranged at the upper part of the azimuth servo system, and the inner frame servo system is arranged in the outer frame servo system.

A reflector is arranged on an inner frame of the inner frame servo system, the inner frame is connected with two pitching shafts, a rotary transformer, a motor, a limiting wheel and a bearing I are sequentially arranged on one pitching shaft from left to right, and a bearing II is arranged on the other pitching shaft; the inner frame servo system is connected with the outer frame servo system through a bearing I and a bearing II;

the outer frame of the outer frame servo system is provided with a laser range finder and a camera, the outer frame is connected with two pitching shafts, one pitching shaft is provided with a bearing III, and the other pitching shaft is sequentially provided with a bearing IV, a limiting wheel, a motor and a rotary transformer from left to right; the outer frame servo system is connected with the U-shaped bracket through a bearing III and a bearing IV;

a gear of the azimuth servo system is respectively connected with the U-shaped bracket and the azimuth shaft, and the azimuth shaft is fixed on the main shell through a thrust bearing, a bearing V and a bearing VI; on the left side of the azimuth axis, the motor is connected with the gear through the transmission shaft; on the right side of the azimuth axis, a rotary transformer is connected with an anti-backlash gear through a transmission shaft.

The rotation axes of the inner frame servo system and the outer frame servo system are superposed and rotate according to the angle relation of 1: 2 proportion. The high-power laser reflected by the reflector, the camera and the laser range finder point to the same target. The inner frame servo system and the outer frame servo system are fixed on the U-shaped support.

The invention is suitable for laser mine-sweeping weapons, is used for mounting a high-power laser reflector, a camera and a laser range finder, and is a bearing turntable. The two sets of servo systems in the pitching direction are on the same axis and rotate in proportion, so that the high-power laser reflected by the reflector, the camera and the laser range finder point to the same target. The invention has simple structure and high reliability.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic diagram of the general structural principle of the laser minesweeping rotary table.

Fig. 2 is a general structural schematic diagram of the laser minesweeping rotary table of the embodiment of the invention.

Fig. 3 is a schematic view of the optical path in the laser minesweeping rotary table of the present invention.

In the figure, 1, a motor 2, a rotary transformer 3, a U-shaped support 4, an outer frame 5, an inner frame 6, a motor 7, a rotary transformer 8, a pitch shaft 9, a pitch shaft 10, a pitch shaft 11, a pitch shaft 12, a motor 13, a rotary transformer 14, a gear 15, a gear 16, an anti-backlash gear 17, a reflector 18, an azimuth shaft 20, a limiting wheel 21, a limiting wheel 22, a laser range finder 23, a camera 25, a thrust bearing 27, a transmission shaft 28, a main shell 191, a bearing I192, a bearing II241, a bearing III 242, a bearing IV 261, a bearing V262 and a bearing VI are arranged in the bearing VI, the bearing II241, the bearing III

Detailed Description

The invention is further described below with reference to the figures and examples.

In fig. 1 and 2, an inner frame 5 of the laser minesweeping rotary table is connected with a pitch shaft 8 and a pitch shaft 10, a rotary transformer 2, a motor 1, a limiting wheel 20 and a bearing I191 are sequentially arranged on the pitch shaft 8 from left to right, and only a bearing II192 is arranged on the pitch shaft 10, so that an inner frame servo system is formed together. The motor 1 drives the servo system to rotate, the rotary transformer 2 detects the rotation angle and transmits angle information to the servo control system, and the servo control system controls the rotation direction, speed and angle of the motor 1 so as to control the rotation direction, speed and angle of the reflector 17 fixed on the inner frame 5. The limiting wheel 20 limits the rotation angle range of the inner frame servo system in a mechanical structure. The inner frame servo system is connected with the outer frame servo system through the pitching shaft 9, the pitching shaft 11, the bearing I191 and the bearing II192, and force borne by the inner frame servo system is transmitted to the outer frame servo system through the bearing I191 and the bearing II 192.

Frame 4 links together with every single move axle 9, every single move axle 11, is provided with bearing III241 on the every single move axle 9 only, has set gradually bearing IV242, spacing wheel 21, motor 6, resolver 7 from the left hand right side on the every single move axle 11 to constitute frame servo jointly, frame servo passes through bearing III241, bearing IV242 and links together with U type support 3, and the power that frame servo received passes through bearing III241, bearing IV242 passes through U type support 3. The motor 6 drives the servo system to rotate, the rotary transformer 7 detects the rotation angle and transmits angle information to the servo control system, and the servo control system controls the rotation direction, speed and angle of the motor 6 so as to realize the rotation direction, speed and angle of the laser range finder 22 and the camera 23 fixed on the outer frame 4. The limiting wheel 21 controls the rotation angle range of the outer frame servo system on the mechanical structure.

The U-shaped bracket 3 is fixed with a gear 15, the gear 15 is fixed on an azimuth shaft 18, and the azimuth shaft 18 is fixed on the main shell 28 through a thrust bearing 25, a bearing V261 and a bearing VI 262. On the left side of the azimuth axis 18, the motor 12 is connected to the gear 14 via a transmission shaft 27, and the gear 14 is in gear engagement with the gear 15. On the right side of the azimuth axis 18, the rotary transformer 13 is connected with the anti-backlash gear 16 through a transmission shaft 27, and the anti-backlash gear 16 is in gear engagement transmission with the gear 15. The motor 12 drives the gear 14 to rotate, which in turn drives the gear 15 to rotate. When the gear 15 rotates, on one hand, the backlash eliminating gear 16 is driven to rotate through gear meshing transmission, the backlash eliminating gear 16 rotates, and the rotary transformer 13 rotates, so that the rotating angle is detected; on the other hand, the gear 15 rotates to drive the U-shaped support 3 to rotate, so that the inner frame servo system and the outer frame servo system fixed on the U-shaped support 3 realize azimuth rotation together. Thereby constituting an orientation servo system. Similarly, the motor 12 drives the servo system to rotate, the rotary transformer 13 detects the rotation angle and transmits angle information to the servo control system, and the servo control system controls the rotation direction, speed and angle of the motor 12 to realize the rotation direction, speed and angle of the azimuth.

Fig. 3 is a schematic view of the optical path in the laser minesweeping rotary table of the present invention. It can be seen from the figure that the high power laser enters the outer frame 4 vertically from below, and is reflected by the reflector 17, and according to the angle relationship between the incident light and the reflected light, when the reflector rotates by an angle Δ α, the reflected light is deflected by an angle 2 Δ α with respect to the incident light. The camera 23 and the laser range finder 22 are mounted on the frame servo system, the rotation angle of the camera 23 and the laser range finder 22 is Δ β, and the laser beam reflected by the reflector 17 and the optical paths of the camera 23 and the laser range finder 22 should coincide, that is, Δ β is 2 Δ α. The target at which the laser is directed is thus the target observed.

Claims

1. The utility model provides a laser mine sweeping revolving stage which characterized in that: the direction servo system of the rotary table is arranged at the bottom, the outer frame servo system is arranged at the upper part of the direction servo system, and the inner frame servo system is arranged in the outer frame servo system;

a reflector (17) is arranged on an inner frame (5) of the inner frame servo system, the inner frame (5) is connected with a first pitching shaft (8) and a second pitching shaft (10), a rotary transformer (2), a first motor (1), a limiting wheel (20) and a bearing I are sequentially arranged on the first pitching shaft (8) from left to right, and a bearing II is arranged on the second pitching shaft (10); the inner frame servo system is connected with the outer frame servo system through a bearing I and a bearing II;

a laser range finder (22) and a camera (23) are arranged on an outer frame (4) of the outer frame servo system, the outer frame (4) is connected with a third pitching shaft (9) and a fourth pitching shaft (11), a bearing III is arranged on the third pitching shaft (9), and a bearing IV, a limiting wheel (21), a second motor (6) and a rotary transformer (7) are sequentially arranged on the fourth pitching shaft (11) from left to right; the outer frame servo system is connected with the U-shaped bracket (3) through a bearing III and a bearing IV;

a gear (15) of the azimuth servo system is respectively connected with the U-shaped support (3) and an azimuth shaft (18), and the azimuth shaft (18) is fixed on the main shell (28) through a thrust bearing (25), a bearing V and a bearing VI; on the left side of the azimuth axis (18), a third motor (12) is connected with a gear (14) through a transmission shaft (27); on the right side of the azimuth axis (18), the resolver (13) is connected with the anti-backlash gear (16) through a transmission shaft (27).

2. A laser minesweeping turret according to claim 1 wherein: the rotation axes of the inner frame servo system and the outer frame servo system are superposed and rotate according to the angle relation of 1: 2 proportion.