CN100487298C - Electric-controlled cradle head - Google Patents

Electric-controlled cradle head Download PDF

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Publication number
CN100487298C
CN100487298C CNB2007100650724A CN200710065072A CN100487298C CN 100487298 C CN100487298 C CN 100487298C CN B2007100650724 A CNB2007100650724 A CN B2007100650724A CN 200710065072 A CN200710065072 A CN 200710065072A CN 100487298 C CN100487298 C CN 100487298C
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CN
China
Prior art keywords
cloud terrace
gear
plane
magnetic
shaft
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Expired - Fee Related
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CNB2007100650724A
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Chinese (zh)
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CN101063510A (en
Inventor
田跃
李�杰
郭志文
魏少峰
焦旭
邱宏
潘礼庆
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Beijing University of Technology
University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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Priority to CNB2007100650724A priority Critical patent/CN100487298C/en
Publication of CN101063510A publication Critical patent/CN101063510A/en
Application granted granted Critical
Publication of CN100487298C publication Critical patent/CN100487298C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A electrically control cloud platform for bearing the detecting or displaying apparatus, belong to the sensor field, which is characterized in that it is based on the common cloud platform and provided with a specific signal trigger magnetic field and high-precision magnetosensitive contactless angle sensor in the mechanic structure of plane-rotation and pitching angle rotation of the common cloud platform, to receive the output of electrical signal corresponding to the rotating angle during the rotating in the horizontal direction and pitching direction and realize the detecting and control of rotating area, rotating velocity and precise positioning by the process of microcontroller and control circuit, to satisfy the market demand for the use of a plurality of cloud platforms of high-precision displaying and controlling with low cost.

Description

A kind of automatically controlled The Cloud Terrace
Technical field:
The invention belongs to sensor and instrument field, particularly a kind of monitoring or automatically controlled The Cloud Terrace of using of display instrument of carrying.
Background technique:
The Cloud Terrace is a kind of common components of carrying monitoring or display instrument and driving its rotation, it often can install various display devices, photographic camera, video camera, monitoring instrument, aiming location instrument, launcher, laser source etc., and drive them and produce plane and pitch rotation, can make the observer obtain dynamic observing image.
Conventional in the market The Cloud Terrace can only provide and design given rotation of single rotating speed plane and pitch rotation in advance.Its rotation angle zone only depends on the mechanical collision switch of commutation or produces the commutation control signal near switch, makes The Cloud Terrace inner control motor conversion sense of rotation, realizes continuing reciprocal rotation.Conventional The Cloud Terrace is passive conversion sense of rotation, can not provide and the corresponding position output in pivotal position electrical signal, can not change pivot region and slewing rate according to observer's requirement, can not satisfy the purpose of dynamic tracking monitored target, its application is restricted.
Controlled The Cloud Terrace also has the stepper motor of employing now as rotational drive motor.Stepper motor relies on peripheral control circuit to provide pulse, rotates according to the integral multiple of the inner step angle of stepper motor.Because the step angle of stepper motor is general bigger, though can realize actions such as intermittently pause, frequent changes just change, counter-rotating, location, measurement and control accuracy are not high.Owing to adopt impulsive current to drive, need the control of special circuit and mcu programming, when low rotation speed, cause the shake of motor easily, when driving heavy load, be easy to generate and lose the step phenomenon, cause the rotational position inaccuracy, use for a long time the accumulative total that causes error, recover initial position and precision, long term operation stability and operate not only loaded down with trivial details but also inaccurate for eliminating the means that error can only adopt outage to start shooting again to reset.
Magneto-dependent sensor is to have particular feature in the sensor technical field, application is important branch very widely, its main feature is to trigger magnetic field and the induction of magnet-sensitive element non-contact signal, have contactless, there are not wearing and tearing, no electric noise, high sensitivity, high-resolution, high reliability, high duplication, the sensor long service life, electric performance stablity is reliable, be easy to realize integrated and intelligent, frequency response is fast, be swift in response accurately, utilize the sensor construction of magnet-sensitive element exploitation simply light and handy, applicable to water, oil, vapour, dust, high low temperature, vibration, multiple industrial rugged environment such as impact, each main manufacturing process is easy to standardization control, the price performance excellent characteristics, be specially adapted to the environmental quality of the automatically controlled The Cloud Terrace of outdoor use, satisfy a large amount of highi degree of accuracy of using and show with controlled to have the market demand of lowization of cost feature The Cloud Terrace simultaneously.
Summary of the invention
The present invention seeks to by rotating in the mechanical structure of rotating with pitching angle on the plane of common The Cloud Terrace, the contactless 360 ° of angle transducers of highi degree of accuracy magnetosensitive are installed, when realizing that plane and pitch rotation take place The Cloud Terrace, provide and rotation angle corresponding simulating amount and the output of digital quantity electrical signal.By host computer and circuit control, realize function to The Cloud Terrace pivot region, rotational velocity, detection and localization.
A kind of automatically controlled The Cloud Terrace, it is characterized in that it being on the basic structure basis of common The Cloud Terrace, by rotating in the mechanical structure of rotating with pitching angle on the plane of common The Cloud Terrace, signal specific has been installed has triggered magnetic field and the contactless angle transducer of highi degree of accuracy magnetosensitive, when making The Cloud Terrace realize that substantially horizontal and pitch orientation rotate, can obtain the electrical signal output corresponding with rotation angle.By the processing of microprocessor (Micro-computer), can realize The Cloud Terrace pivot region, rotational velocity, pinpoint monitoring and control with control circuit.Automatically controlled The Cloud Terrace is by standing part, horizontally rotate part and pitching angle and rotate three parts formation, comprise The Cloud Terrace base 1, The Cloud Terrace rotation lower end cap 2, pitching motor shaft end gear 3, worm shaft end gear 4, pitching drive motor 5, The Cloud Terrace rotation upper end cap 6, The Cloud Terrace is rotary middle spindle 7 not, worm shaft 8, turbine 9, turbine shaft 10, bearing table 11, horizontal extension shaft 12, upper bracket 13, magnetic field 14, pitch reference 15, pitch reference lead-in wire 16, special-purpose assembly signal processing circuit board 17, plane rotation angle sensor 18, plane rotational drive motor 19, The Cloud Terrace is center of rotation shaft end gear 20 not, plane rotational drive motor shaft end gear 21, plane rotational drive motor driving gear 22, The Cloud Terrace is rotary middle spindle driven gear 23 not.Standing part The Cloud Terrace base 1 is the pedestal that the carrying The Cloud Terrace rotates.Horizontally rotating part is driven by the motor 19 that is fixed on the The Cloud Terrace rotation lower end cap 2, fixing gear 23 interlocks of central shaft 7 axle heads that gear 22 that motor shaft end is fixing and The Cloud Terrace do not rotate, connect power supply when motor and rotate, actuation gear 22 produces the plane around gear 23 and rotates.The additional installation of central shaft 7 axle heads that plane rotation angle sensor 18 axle heads and The Cloud Terrace do not rotate one secondary gear ratio 1: 1, the number of teeth are the identical synchromesh gear 20,21 of 4~5000 teeth.The pitching angle of The Cloud Terrace is realized by motor driving worm and gear system, pitching angle drive motor 5 drives pitching motor shaft end gear 3, worm shaft end gear 4 rotates, worm shaft end gear 4 is fixed on worm shaft 8 one ends, and driving worm shaft 8 and worm gear 9 rotations, bearing table 11 is fixed in worm-wheel shaft 10 two ends.Bearing table 11 1 end cores are hollowed out, a horizontal extension shaft 12 is fixed with worm-wheel shaft 10 1 ends,, a specific magnetic field 14 is installed at the axle head of horizontal extension shaft 12.Because the non-contacting characteristics of magneto-dependent sensor, on the upper bracket 13 that is fixed on The Cloud Terraces rotation upper end cap 6 that can magnetosensitive integrated angle pitch reference 15 is concentric, and special-purpose magnetic field is selected in certain position determined between the distance of 0.1~20mm at interval.
The plane rotation angle sensor can adopt gear transmission to drive angle transducer, also can adopt synchronous pulley to drive The Cloud Terrace Plane Angle sensor.The Plane Angle sensor is made of bearing 27, bearing 28, plane magnetosensitive integrated chip 29 able to programme, plane magnetosensitive integrated chip able to programme signal processing circuit plate 30, magnetic field 31, plane rotation angle sensor outer end cap 32, rotating shaft 33.When drive motor made The Cloud Terrace produce the plane rotation, the rotating shaft 33 in the plane rotation angle sensor 18 can obtain the rotation angle synchronous with The Cloud Terrace.Magnetosensitive integrated chip 29 is with certain set point value among the spacing of maintenance and interval, special-purpose magnetic field 0.1~20mm, the plane angle of swing change transitions that special-purpose magnetic field 31 is produced become can programming Control the voltage output signal as 0~5V voltage signal, or 4~20mA current signal, or microcomputer SPI (Serial Peripheral Interface) output format for numbers.
The plane rotation angle sensor adopts synchronous pulley transmission The Cloud Terrace Plane Angle sensor, the synchronizing wheel 42 that has convex and concave teeth is installed in plane rotation angle sensor 44 rotating shafts 34 1 ends that are fixed on the The Cloud Terrace rotation lower end cap 2, and the synchronizing wheel 43 that has convex and concave teeth is fixed in the contour position of motionless rotating shaft 7 correspondences of The Cloud Terrace.Synchronizing wheel 43 and 42 rotates by being with 41 tensions to transmit the The Cloud Terrace plane synchronously.
Synchronous pulley transmission The Cloud Terrace Plane Angle sensor is by Plane Angle sensor 44, rotating shaft 34, bearing 35, bearing 36, magnetic field 37, plane rotation angle sensor outer end cap 38, magnetosensitive integrated chip 39 able to programme, magnetosensitive integrated chip signal processing circuit plate 40 able to programme, be with 41 to constitute synchronously.Rotating shaft 34 is by on the end cap 38 in 2 bearings 35 and 36 fixing and the Plane Angle sensors 44.Rotating shaft 34 the other ends are installed special-purpose magnetic field 37, magnetosensitive integrated chip 39 able to programme is installed in the position of magnetosensitive integrated chip signal processing circuit plate 40 correspondences able to programme, circuit board 40 with keep with the concentric end cap 38 that is installed in plane rotary angle transmitter 44 of the spacing of special-purpose magnetic field interval 0.1~20mm on, the plane rotation change that special-purpose magnetic field 37 is produced be transformed into can programming Control the voltage output signal as 0~5V voltage signal, or 4~20mA current signal, or microcomputer SPI output format for numbers.
The structural principle of magnetosensitive integrated chip able to programme as shown in Figure 5.This chip is by boundling differential magnetosensitive sense film material with function and microcomputer (the integrated high-performance magnetism sensing element of Micro-computer).This integrated chip changes external magnetic field into perpendicular to integrated chip magnetic field by magnetic boundling material, magnetosensitive sense material is with the differential voltage signal that changes into of external magnetic field, integrated 16 bits (Bits) A/D (analog digital converter) change voltage signal into digital signal, its input integrated microprocessor is carried out DSP (Date ... Prosess) signal processing, can obtain the proportional output signal of 0~5V and supply voltage, or 4096 calibration PWM pulse width modulated wave, or the 14BitSPI digital signal, resolution is the highest can to reach 0.022 °.
With the plane corner of acquisition and the two-way electrical signal of pitching corner, introduce special-purpose assembly signal processing circuit board 17.What special-purpose assembly signal processing circuit board 17 utilized that single-chip microcomputer detects to plane corner and pitching angle that magneto-dependent sensor provides carries out the standardization of analog signals with the corresponding signal of The Cloud Terrace rotation, can obtain the output of 0~5V voltage or 4~20mA current output signal, also can be treated to the electrical signal of digital quantity output mode, obtain output signal with SPI, RS232, RS485 interface shape.Single-chip microcomputer signal processing working principle as shown in Figure 6, plane corner and pitching angle detected magneto-dependent sensor and provide with the corresponding SPI signal of The Cloud Terrace rotation and insert special-purpose assembly signal processing circuit board 17 when The Cloud Terrace rotated, and a single-chip microcomputer (microcomputer Micro-computer) is arranged on the circuit board.Single-chip microcomputer provides clock pulse signal for integrated magnetosensitive angle transducer, and provides the sampling instruction, and the magnetosensitive angle transducer provides the plane corner of correspondence and the digital quantity signal of pitching angle to single-chip microcomputer.Single-chip microcomputer compares signal and the internal standard CLK clock that integrated magnetosensitive angle transducer provides, and obtains the speed and the acceleration signal of the rotation of The Cloud Terrace.Single-chip microcomputer carries out calculation process to above signal, changes power supply intensity control The Cloud Terrace rotational velocity by power control circuit; Reach change The Cloud Terrace sense of rotation by changing the power supply polar orientation; By COMPREHENSIVE CALCULATING, provide control command and realize precision positioning and Comprehensive Control The Cloud Terrace to rotation angle, rotating speed, rotation acceleration.Can provide simultaneously the output of 0~5V voltage or 4~20mA current output signal, also can be treated to the electrical signal of digital quantity output mode, obtain output signal with SPI, RS232, RS485 interface shape.The logic program block diagram of single-chip microcomputer signal processing software as shown in Figure 7.
The present invention also adopts magnetic coder formula magnetosensitive integrated chip, and (plane and pitch rotation angle to controlled The Cloud Terrace detect, and its structural principle as shown in Figure 8.Magnetic coder formula magnetosensitive integrated chip is by boundling differential magnetosensitive sense film material with function and the microcomputer (magnet-sensitive element of integrated pulse digit amount output of Micro-computer).This integrated chip changes external magnetic field into perpendicular to integrated chip magnetic field by magnetic boundling material, magnetosensitive sense material is with the differential voltage signal that changes into of external magnetic field, integrated A/D (analog digital converter) changes voltage signal into digital signal, integrated microprocessor becomes 1024 calibration PWM pulse width modulated waves with this Digital Signal Processing, or 90 ° of phase difference 256 pulses of two-way/360 ° of 0~5V TTL rectangle square wave electrical signal, or single channel 512 pulses/360 ° of 0~5V TTL rectangle square-wave pulses have direction simultaneously and judge the high-low level mode signal output, or 0~5V and the proportional output signal of supply voltage.In the above mechanical structure discussion of the present invention, only magnetic coder formula magnetosensitive integrated chip need be substituted magnetosensitive integrated chip able to programme, can realize measurement to The Cloud Terrace plane rotation angle and luffing angle.
Adopt magnetic coder formula magnetosensitive integrated chip with the plane corner of acquisition and the two-way electrical signal of pitching corner, introduce special-purpose assembly signal processing circuit board 17.PWM pulse width modulated wave or 90 ° of phase difference 256 pulses of two-way/360 ° of 0~5V TTL rectangle square wave electrical signal that special-purpose assembly signal processing circuit board utilizes single-chip microcomputer that magnetic coder formula integrated chip is provided, or single channel 512 pulses/360 ° of 0~5V TTL rectangle square-wave pulses have direction simultaneously and judge that the high-low level mode signal output carries out standardization, can obtain angular resolution and be respectively 0.35 °, 0.7 ° and 1.4 °, 0~5V voltage is exported or 4~20mA current output signal, also can be for conversion into the output signal of RS232, RS485 interface shape.Signal and internal standard CLK clock that single-chip microcomputer also can provide magnetic coder formula magnetosensitive integrated chip compare, and obtain the rotational velocity and the acceleration signal of The Cloud Terrace.The signal and given examination criteria or the setting program of user that provide according to the plane that obtains and luffing angle sensor, single-chip microcomputer provides the control command to the location of the corresponding precision of plane drive motor and pitching drive motor, rotating speed, rotation acceleration, changes power supply intensity control The Cloud Terrace rotational velocity by power control circuit; Reach change The Cloud Terrace sense of rotation by changing the power supply polar orientation; By COMPREHENSIVE CALCULATING, provide control command and realize precision positioning and Comprehensive Control The Cloud Terrace to rotation angle, rotating speed, rotation acceleration.
The automatically controlled The Cloud Terrace of the present invention rotates in the mechanical structure of rotating with pitching angle on the plane of common The Cloud Terrace, signal specific is installed triggers magnetic field and the contactless angle transducer of highi degree of accuracy magnetosensitive, when making The Cloud Terrace realize that substantially horizontal and pitch orientation rotate, can obtain the electrical signal output corresponding with rotation angle.By the processing of microprocessor (Micro-computer) with control circuit, realized The Cloud Terrace pivot region, rotational velocity, pinpoint monitoring and control, satisfied a large amount of use highi degree of accuracy and shown with controlled to have the market demand of lowization of cost feature The Cloud Terrace simultaneously.
Description of drawings
Fig. 1, the automatically controlled cradle head structure figure of gear transmission
1, the The Cloud Terrace base, 2, The Cloud Terrace rotation lower end cap, 3, the pitching motor shaft end gear, 4, the worm shaft end gear, 5, the pitching drive motor, 6, The Cloud Terrace rotation upper end cap, 7, The Cloud Terrace is rotary middle spindle not, and 8, worm shaft, 9, turbine, 10, turbine shaft, 11, bearing table, 12, horizontal extension shaft, 13, upper bracket, 14, magnetic field, 15, pitch reference, 16, the pitch reference lead-in wire, 17, special-purpose assembly signal processing circuit board, 18, the plane rotation angle sensor, 19, the plane rotational drive motor, 20, The Cloud Terrace is the center of rotation shaft end gear not, and 21, plane rotational drive motor shaft end gear, 22, plane rotational drive motor driving gear, 23, The Cloud Terrace is the rotary middle spindle driven gear not
Fig. 2, gear transmission angle transducer structural drawing
27, bearing, 28, bearing, 29, magnetosensitive integrated chip able to programme, 30, magnetosensitive integrated chip signal processing circuit plate able to programme, 31, magnetic field, 32, plane rotation angle sensor outer end cap, 33, rotating shaft
Fig. 3, the automatically controlled cradle head structure figure of synchronous pulley transmission
41, synchronous band, 42, passive and synchronous belt wheel, 43, the active synchronization belt wheel, 44, the Plane Angle sensor
Fig. 4, synchronous pulley transmission The Cloud Terrace Plane Angle sensor construction figure
34, rotating shaft, 35, bearing, 36, bearing, 37, magnetic field, 38, plane rotation angle sensor outer end cap 39, magnetic coder formula magnetosensitive integrated chip, 40, magnetic coder formula magnetosensitive integrated chip signal processing circuit plate
Fig. 5, integrated magnetosensitive angle transducer fundamental diagram able to programme
Fig. 6, controlled The Cloud Terrace special signal processing circuit plate fundamental diagram
The logic program block diagram of Fig. 7, single-chip microcomputer signal processing software.
Fig. 8, magnetic coder formula magnetosensitive integrated chip fundamental diagram.
Embodiment
Embodiment 1:
As shown in Figure 1, be used for integrated magnetosensitive angle transducer 18 structures that the plane rotation angle detects among the present invention as shown in Figure 2, sensor rotating shaft 33 is fixed on the outer end cap 32 by two rotary bearings 27,28, and external diameter is Φ 34mm.In the fixing special-purpose magnetic field 31 of rotating shaft 33 1 ends, magnetosensitive integrated chip 29 able to programme is installed in the position that diameter is Φ 22mm magnetosensitive integrated chip able to programme signal processing circuit plate 30 correspondences, magnetosensitive integrated chip circuit board 30 able to programme keeps certain the set point value spacing with special-purpose magnetic field interval 0.1~20mm, is installed in one heart on the end cap 32 of sensor 18.The additional secondary gear ratio 1:1 that installs of central shaft 7 axle heads that plane rotation angle sensor 18 axle heads and The Cloud Terrace do not rotate, modulus is 1 synchromesh gear 20,21.When drive motor makes The Cloud Terrace produce the plane rotation, rotating shaft 33 in the angle transducer 18 can obtain the rotation angle synchronous with The Cloud Terrace, the plane rotation change that special-purpose magnetic field 31 is produced be transformed into can programming Control the voltage output signal as 0~5V voltage signal, or 4~20mA current signal, or microcomputer SPI (Serial PeripheralInterface) output format for numbers.
The pitching angle of The Cloud Terrace is realized that by motor driving worm and gear system pitching angle drive motor 5 driven gear groups 3,4 are rotated, and gear 4 is fixed on worm shaft 8 one ends, and drives worm shaft 8 and worm gear 9 rotations, and bearing table 11 is fixed in worm-wheel shaft (10) two ends.Bearing table 11 1 end cores are hollowed out, a horizontal extension shaft 12 is fixed with worm-wheel shaft 10 1 ends,, a specific magnetic field 14 is installed at the axle head of horizontal extension shaft 12.Because the non-contacting characteristics of magneto-dependent sensor, the integrated pitch reference 15 concentric The Cloud Terraces that are fixed on of magnetosensitive can be rotated on the upper bracket 13 of upper end cap 6, and special-purpose magnetic field can be selected in certain position determined between the distance of 0.1~20mm at interval, as shown in Figure 1.The pitching angle rotation change that 15 non-contacts of magnetosensitive pitch reference produce special-purpose magnetic field 14 be transformed into can programming Control the voltage output signal, as 0~5V or microcomputer SPI output format for numbers.
With the plane corner of acquisition and the two-way electrical signal of pitching corner, introduce special-purpose assembly signal processing circuit board 17.Single-chip microcomputer on the special-purpose assembly signal processing circuit board 17 carries out calculation process to above signal, changes power supply intensity control The Cloud Terrace rotational velocity by power control circuit; Reach change The Cloud Terrace sense of rotation by changing the power supply polar orientation; By COMPREHENSIVE CALCULATING, provide control command and realize precision positioning and Comprehensive Control The Cloud Terrace to rotation angle, rotating speed, rotation acceleration.Can provide simultaneously the output of 0~5V voltage or 4~20mA current output signal, also can be treated to the electrical signal of digital quantity output mode, obtain output signal with SPI, RS232, RS485 interface shape.Can obtain the output of 0~5V voltage or 4~20mA current output signal, also can be treated to the electrical signal of digital quantity output mode, obtain output signal with SPI, RS232, RS485 interface shape.Embodiment 2:
Adopt the plane rotation angle of the method measurement The Cloud Terrace of synchronous pulley, as shown in Figure 3.Synchronous pulley formula plane rotation angle sensor 44 as shown in Figure 4.The identical synchronous pulley 42,43 that has convex and concave teeth of a pair of outside dimension is individually fixed in plane rotation angle sensor 44 rotating shafts, 34 1 ends and the contour position of motionless rotating shaft 7 correspondences of The Cloud Terrace on the The Cloud Terrace rotation lower end cap 2.Synchronizing wheel 42 and 43 rotates by being with 41 tensions to transmit the The Cloud Terrace plane synchronously.Rotating shaft 34 is by on the end cap 38 in 2 bearings 35 and 36 fixing and the Plane Angle sensors 44.Rotating shaft 34 the other ends are installed special-purpose magnetic field 37, magnetic coder formula magnetosensitive integrated chip 39 is installed in the position of magnetic coder formula magnetosensitive integrated chip signal processing circuit plate 40 correspondences, circuit board 40 with keep with the concentric end cap 38 that is installed in plane rotary angle transmitter 44 of the spacing of special-purpose magnetic field interval 0.1~20mm on, the plane rotation change that special-purpose magnetic field 37 is produced be transformed into can programming Control the voltage output signal as 0~5V voltage signal, or 4~20mA current signal, or microcomputer SPI output format for numbers.

Claims (4)

1. automatically controlled The Cloud Terrace, it is characterized in that it being on the basic structure basis of common The Cloud Terrace, by rotating in the mechanical structure of rotating with pitching angle on the plane of common The Cloud Terrace, signal specific has been installed has triggered magnetic field and the contactless angle transducer of highi degree of accuracy magnetosensitive, when making The Cloud Terrace realize that substantially horizontal and pitch orientation rotate, obtain the electrical signal output corresponding with rotation angle, by the processing of microprocessor and control circuit, realize The Cloud Terrace pivot region, rotational velocity, pinpoint monitoring and control;
Automatically controlled The Cloud Terrace is by standing part, horizontally rotate part and pitching angle and rotate three parts formation, comprise The Cloud Terrace base (1), The Cloud Terrace rotation lower end cap (2), pitching motor shaft end gear (3), worm shaft end gear (4), pitching angle drive motor (5), The Cloud Terrace rotation upper end cap (6), The Cloud Terrace is rotary middle spindle (7) not, worm shaft (8), worm gear (9), worm-wheel shaft (10), bearing table (11), horizontal extension shaft (12), upper bracket (13), first magnetic field (14), pitch reference (15), pitch reference lead-in wire (16), special-purpose assembly signal processing circuit board (17), plane rotation angle sensor (18), plane rotational drive motor (19), The Cloud Terrace is center of rotation shaft end gear (20) not, plane rotational drive motor shaft end gear (21), plane rotational drive motor driving gear (22), The Cloud Terrace is rotary middle spindle driven gear (23) not; The The Cloud Terrace base (1) of standing part is the pedestal that the carrying The Cloud Terrace rotates; Horizontally rotating part is driven by the plane rotational drive motor (19) that is fixed on the The Cloud Terrace rotation lower end cap (2), plane rotational drive motor driving gear (22) and not fixing not rotary middle spindle driven gear (23) interlock of The Cloud Terrace of rotary middle spindle (7) axle head of The Cloud Terrace that plane rotational drive motor (19) axle head is fixing, connect power supply when plane rotational drive motor (19) and rotate, plane rotational drive motor driving gear (22) does not rotate on rotary middle spindle driven gear (23) generation plane around The Cloud Terrace; The fixing additional mounting plane rotational drive motor shaft end gear (21) of plane rotation angle sensor (18) axle head, The Cloud Terrace is the additional not center of rotation shaft end gear (20) of The Cloud Terrace of installing of center of rotation axle head not, and described The Cloud Terrace not center of rotation shaft end gear (20) is that a secondary gear ratio 1:1, the number of teeth are the identical synchromesh gear of 4~5000 teeth with plane rotational drive motor shaft end gear (21); The pitching angle of The Cloud Terrace is realized by motor driving worm and gear system, pitching angle drive motor (5) drives pitching motor shaft end gear (3) and worm shaft end gear (4) rotates, worm shaft end gear (4) is fixed on worm shaft (8) one ends, and driving worm shaft (8) and worm gear (9) rotation, bearing table (11) is fixed in worm-wheel shaft (10) two ends; Bearing table (11) one end cores are hollowed out, a horizontal extension shaft (12) and worm-wheel shaft (10) one ends are fixed,, first magnetic field (14) is installed at horizontal extension shaft (12) axle head; On the upper bracket (13) that is fixed on The Cloud Terrace rotation upper end cap (6) that pitch reference (15) is concentric, and first magnetic field is selected in a definite position between the distance of 0.1~20mm at interval.
2. a kind of according to claim 1 automatically controlled The Cloud Terrace, it is characterized in that the plane rotation angle sensor adopts the gear transmission angle transducer, the gear transmission angle transducer is made of clutch shaft bearing (27), second bearing (28), magnetosensitive integrated chip able to programme (29), the first signal processing circuit plate (30), second magnetic field (31), plane rotation angle sensor outer end cap (32), first rotating shaft (33); When driving plane rotational drive motor (19) made The Cloud Terrace produce the plane rotation, first rotating shaft (33) in the plane rotation angle sensor (18) can obtain the rotation angle synchronous with The Cloud Terrace; Magnetosensitive integrated chip able to programme (29) is with set point value among the spacing of maintenance and interval, second magnetic field 0.1~20mm, the plane angle of swing change transitions that second magnetic field (31) are produced becomes 0~5V voltage signal or the 4~20mA current signal with programming Control, or microcomputer SPI output format for numbers.
3. as a kind of automatically controlled The Cloud Terrace as described in the claim 2, it is characterized in that magnetosensitive integrated chip able to programme is by boundling differential magnetosensitive sense film material with function and the integrated high-performance magnetism sensing element of microcomputer, this magnetosensitive integrated chip able to programme changes external magnetic field into perpendicular to integrated chip magnetic field by magnetic boundling material, magnetosensitive sense material is with the differential voltage signal that changes into of external magnetic field, integrated analog digital converter changes voltage signal into digital signal, digital signal is imported integrated microprocessor carry out the DSP signal processing, obtain the proportional output signal of 0~5V and supply voltage, or 4096 calibration PWM pulse width modulated wave, or the 14bitSPI digital signal, resolution is the highest can to reach 0.022 °; With the plane corner of acquisition and the two-way electrical signal of pitching corner, introduce special-purpose assembly signal processing circuit board (17), what special-purpose assembly signal processing circuit board (17) utilized that single-chip microcomputer detects to plane corner and pitching angle that magneto-dependent sensor provides carries out the standardization of analog signals with the corresponding signal of The Cloud Terrace rotation, obtain the output of 0~5V voltage or 4~20mA current output signal, or be treated to the electrical signal of digital quantity output mode, obtain output signal with SPI, RS232 or RS485 interface shape.
4. as a kind of automatically controlled The Cloud Terrace as described in the claim 2, it is characterized in that adopting magnetic coder formula magnetosensitive integrated chip that the plane and the pitch rotation angle of controlled The Cloud Terrace are detected, magnetic coder formula magnetosensitive integrated chip is the magnet-sensitive element by boundling differential magnetosensitive sense film material with function and the integrated pulse digit amount output of microcomputer, this magnetic coder formula magnetosensitive integrated chip changes external magnetic field into perpendicular to integrated chip magnetic field by magnetic boundling material, magnetosensitive sense material is with the differential voltage signal that changes into of external magnetic field, integrated analog digital converter changes voltage signal into digital signal, integrated microprocessor becomes 1024 calibration PWM pulse width modulated waves with this Digital Signal Processing, or 90 ° of phase difference 256 pulses of two-way/360 ° of TTL rectangle square wave electrical signal, or single channel 512 pulses/360 ° of TTL rectangle square-wave pulses have direction simultaneously and judge the high-low level mode signal output, or 0-5V and the proportional output signal of supply voltage; On mechanical structure, substitute magnetosensitive integrated chip able to programme with magnetic coder formula magnetosensitive integrated chip.
CNB2007100650724A 2007-04-02 2007-04-02 Electric-controlled cradle head Expired - Fee Related CN100487298C (en)

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