CN101794156B - Navigation locking device suitable for photoelectric tracker - Google Patents
Navigation locking device suitable for photoelectric tracker Download PDFInfo
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- CN101794156B CN101794156B CN2010100137190A CN201010013719A CN101794156B CN 101794156 B CN101794156 B CN 101794156B CN 2010100137190 A CN2010100137190 A CN 2010100137190A CN 201010013719 A CN201010013719 A CN 201010013719A CN 101794156 B CN101794156 B CN 101794156B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a navigation locking device suitable for a photoelectric tracker. The navigation locking device mainly comprises a microprocessor provided with a locking/unlocking control module, a first relay assembly, a second relay assembly, a motor, a limit switch group and a locking/unlocking actuator having a switch gear, wherein the locking/unlocking control module controls the forward/reverse rotation of a motor through the first relay assembly according to a locking/unlocking instruction sent by an upper control computer; and when the limit switch group is triggered by the switch gear, a driving voltage of the motor is turned off through the second relay assembly and a locking/unlocking in-position signal is output to the micro processor. The navigation locking device solves the problem of automatic locking of mechanisms in the navigation or transportation process of the photoelectric tracker, has the advantages of simple structure, small volume, light weight, good adaptability, high reliability and the like, and can be used for not only the photoelectric tracker but also for the similar equipment having rotation mechanisms.
Description
Technical field
The present invention relates to a kind of locking device, relate generally to a kind of locking device that is applicable to slew gear, relate in particular to a kind of navigation locking device that is applicable to optronic tracker.
Background technology
Optronic tracker is comprehensive photodetection and the tracking equipment that integrates multiple photoelectric sensors such as visible light, infrared, laser, and these photoelectric sensors are finished range finding and the tenacious tracking to target under the drive of optronic tracker orientation and luffing mechanism.In order to guarantee tracking accuracy, generally speaking, the form that the orientation of optronic tracker and luffing mechanism all adopt direct current torque motor directly to drive realizes motion separately, and the mechanism of this form often all has less moment of friction.Do not work when optronic tracker and to be in stopped status and during with carrier navigation or transportation; because the motion of carrier; as the naval vessel with the waving of wave, vehicle because of jolting of road surface etc.; all may cause freely rotating or swinging of orientation and luffing mechanism, and freely rotate or swing problems such as tending to bring vibration, impact.Therefore be necessary to add locking device, prevent that it from freely rotating or swinging, with the corresponding parts of protection optronic tracker and the various photoelectric sensors of carrying to these mechanisms.
Locking device commonly used at present has manually and automatic two big classes.Manual-lock has locking advantage such as reliable; but owing to need people's participation and having relatively high expectations to operating personnel; usually can occur not locking when ask for something locks; the situation that does not have release when requiring release again; particularly be difficult for or place that can't be approaching at some; troublesome poeration not only; but also there is personal safety hidden danger; though the manual-lock that has is arranged to electro-mechanical interlock; still can not overcome the drawback of complicated operation; therefore for the demanding optronic tracker of automaticity, this manual-lock inconvenience is used.Automatic locking apparatus is used hydraulic pressure (pneumatic) locking device and electromagnetic locking device more widely.Hydraulic pressure (pneumatic) locking device must have complicated corollary system such as hydraulic cylinder (or pneumatic cylinder) and non-return valve, hydraulic pump (or pneumatic supply), solenoid directional control valve, and the application scenario is subjected to certain restriction.Electromagnetic locking device often volume is big, no matter and adopt to power on and add lock or go electricity to add the principle of work of lock, all exist and lock or situation that release is charged often, this is totally unfavorable in real work.
Summary of the invention
The technical problem to be solved in the present invention is, overcome that existing manual-lock operation easier is big, automaticity is low, hydraulic pressure (pneumatic) locking device corollary system complexity, use limited and big, the normal charged shortcoming of electromagnetic locking device volume, a kind of miniature locking device based on automatic working method is provided, solve the problem that automatically locks of optronic tracker orientation and luffing mechanism in navigation or transportation, this locking device also has manual operation function simply and easily simultaneously.
For solving the problems of the technologies described above, locking device provided by the invention comprise be equipped with microprocessor, first driver that adds the release control module, first relay assembly that contains first and second relays, motor, add release topworks, contain first and second optoelectronic switches the limit switch group, contain second driver of first driving circuit and second driving circuit and contain second relay assembly of the 3rd, the 4th relay; Frame-type body, turbine and worm pair, screw drive axle, thrust nut, stop pin, buffer spring, two pins, locking sliding sleeve, sliding guide groove, slip pilot pin, switch washer and cover plates are contained in the described release topworks that adds, described frame-type body contains a longitudinal hole and two lateral apertures, first lateral aperture is through hole and the bottom that is positioned at the frame-type body, first lateral aperture and longitudinal hole be with tangent mode conducting, and the end that second lateral aperture is positioned at the middle part of frame-type body and second lateral aperture and longitudinal hole are to pass through the mode conducting mutually; Worm screw two ends in the turbine and worm pair are connected in the two ends of first lateral aperture and the end of worm screw and the rotating shaft of motor respectively by two clutch shaft bearings and are connected; Worm gear axis hole in the hypomere of described screw drive axle and the turbine and worm pair is connected and the screw drive axial region position that is positioned at the turbine axis hole two ends outsides is connected in the middle and lower part and the lower port of longitudinal hole respectively by two second bearings, and the stage casing of screw drive axle is provided with external thread and epimere is a guide pole; Described thrust nut cooperates with the external thread in screw drive axle stage casing; Described stop pin is a hollow cylinder, and its endoporus has two step surfaces, first step face uniform two mounting holes along axis direction to the major diameter hole wall of stop pin one end; Described locking sliding sleeve inside has in a plurality of annular grooves and the groove and scribbles lubricating oil; Described two pin radial symmetry are connected in the epimere position of described thrust nut; Described buffer spring and described stop pin are enclosed within the outside of described guide pole successively, epimere and two pins that one end of stop pin band mounting hole is enclosed within thrust nut lay respectively in two mounting holes of stop pin, and the two ends of buffer spring are positioned at the upper surface of thrust nut and the second step face place of stop pin respectively; The mounting hole section outer cover locking sliding sleeve of described stop pin and the outside of locking sliding sleeve and the upper port of frame-type body are connected; Described sliding guide groove is to have the tabular body of rectangular channel and be connected with the frame-type body, and the direction that sliding guide groove is positioned at the length direction that passes through place and rectangular channel mutually of described longitudinal hole and second lateral aperture and described longitudinal hole is consistent; Described slip pilot pin one end is connected in a side of described thrust nut and the rectangular opening that the other end is positioned at sliding guide groove; Described switch washer is connected in the other end of slip pilot pin; The port of described second lateral aperture is connected described first, second optoelectronic switch is installed on described cover plate and the cover plate, and the distance between first optoelectronic switch and second optoelectronic switch equals the stroke that the screw drive axle moves; Under lock-out state, the upper end of described stop pin is inserted in the lock hole of optronic tracker orientation or pitching revolving part, and under released state, the upper end of described stop pin is all withdrawed from from the lock hole of optronic tracker orientation or pitching revolving part; The described function that adds the release control module is, according to upper control computer provide lock the instruction or unlock command, by first driver control, the first relay assembly drive motor forward or reverse, the signal that puts in place that locks that provides according to the 3rd relay, return the information of putting in place that locks of accusing to upper control computer, the release that provides according to the 4th relay signal that puts in place returns the release information that puts in place of accusing to upper control computer; When first optoelectronic switch is triggered by the switch washer, its output signal is controlled the 3rd relay by first driving circuit and is cut off the just commentaries on classics voltage of first relay assembly to motor output, and sends the signal that puts in place that locks by the 3rd relay to the I/O of microprocessor mouth; When second optoelectronic switch is triggered by the switch washer, its output signal is controlled the 4th relay by second driving circuit and is cut off the reversal voltage of first relay assembly to motor output, and sends the release signal that puts in place by the 3rd relay to the I/O of microprocessor mouth.
According to the present invention, the external thread in the internal thread of described thrust nut and described screw drive axle stage casing is acme thread.
According to the present invention, first to fourth relay is double-contact relay; A terminal of the first input end of described first relay links to each other with first output terminal of described the 3rd relay, another terminal of first input end is unsettled, a terminal ground connection of second input end of first relay, another terminal is unsettled, and first, second output terminal correspondence of first relay is connected on the positive and negative binding post of described motor; A terminal of the first input end of described second relay links to each other with first output terminal of described the 4th relay, and another terminal of first input end is unsettled, a terminal ground connection of second input end of second relay, and another terminal is unsettled; First, second output terminal correspondence of second relay is connected on the positive and negative binding post of described motor; The first input end of third and fourth relay is connected with outside first power supply, ground connection of two terminals of second input end, another is connected with outside second source, the second output terminal correspondence of third and fourth relay is connected on the difference end of the I/O mouth of microprocessor, when adding release control module output and add lock signal, the first relay adhesive, second relay disconnects; When adding release control module output unlocking signal, first relay disconnects, the second relay adhesive; When switch washer during not over against first optoelectronic switch, three, the 4th relay adhesive simultaneously, when first optoelectronic switch is triggered, first output terminal of the 3rd relay and the input end of first relay disconnect, second output terminal of the 3rd relay is exported the signal that puts in place that locks to the I/O of microprocessor mouth, and the 4th relay still keeps adhesive; When switch washer during not over against second optoelectronic switch, three, the 4th relay adhesive simultaneously, when second optoelectronic switch is triggered, first output terminal of the 4th relay and the input end of second relay disconnect, second output terminal of the 4th relay is to the I/O of the microprocessor mouth output release signal that puts in place, and the 3rd relay still keeps adhesive.
Beneficial effect of the present invention is embodied in the following aspects:
(1) in the present invention, microprocessor is controlled the break-make of first, second relay according to the requirement of host computer, driving circuit is according to the break-make situation drive motor forward or reverse of first, second relay, make the stop pin in the topworks insert or withdraw from the lock hole of optronic tracker revolving part thus, thereby realized function the automatic lockout or the automatic unlocking of optronic tracker.The present invention has not only solved the orientation and the positive lock problem of luffing mechanism in navigation or transportation of optronic tracker, and put in place or release can be cut off the power supply after putting in place and the security that improved optronic tracker locking, especially for being installed in the carrier optronic tracker of eminence out of my cabin, the superiority that automaticity of the present invention embodied is particularly outstanding.
(2) the present invention by the control first relay assembly output+28V or-28V voltage is to motor; with control motor forward or reverse; the function that realization is carried out automatic lockout and release to the orientation or the luffing mechanism of photoelectricity localizer; when locking or after release puts in place; automatically cut off the 28V power supply by second driver; motor stops operating, and has solved to add the release topworks function of back to the automatic protection of motor rotation blockage and power supply that put in place.
(3) among the present invention, when detecting, microcontroller locks or release puts in place behind the signal, microprocessor is cancelled and is locked or the release control signal, first driver output high level is given first relay assembly, and cut off first relay assembly, and first relay assembly output no-voltage, each relay is in the raw, this has not only reduced the power consumption of electrical appliances among the present invention, and improves the life-span of each components and parts and the reliability of circuit.
(4) the present invention adopt that reduction gear ratio is big, the worm and wormwheel reducing gear of stable drive, compact conformation and have revesal auto-lock function, intensity better, friction is less, efficient is higher, transmission power is bigger trapezoid spiral pair, therefore, make among the present invention add release topworks have structure form simple, volume is little, in light weight, good, the high reliability features of suitable dress property, not only can be used for optronic tracker, also can be used for other similar equipment that has slew gear, as radar etc.
Description of drawings
Fig. 1 is the composition and the theory diagram of locking device of the present invention.
Fig. 2 is the locking control basic circuit composition diagram of locking device of the present invention.
Fig. 3 is the workflow block diagram that adds the release control module among the present invention.
Fig. 4 is composition and the released state synoptic diagram that adds release topworks among the present invention.
Fig. 5 is the thrust nut structural profile synoptic diagram shown in Fig. 4.
Fig. 6 is the slip pilot pin structural representation shown in Fig. 4.
Fig. 7 is the lock-out state synoptic diagram that adds release topworks among the present invention.
Embodiment
As shown in Figure 1, the locking device that provides of the preferred embodiment of the present invention comprises and is equipped with the microcontroller 8, first driver 7, first relay assembly 6, the motor 3 that add the release control module, adds release topworks 1, limit switch group 2, second driver 4 and second relay assembly 5.
According to shown in Figure 2, microcontroller 8 is made up of AT89C2051 type microprocessor D1, MAX488 Asynchronous Serial Interface driving circuit D2, first to the 3rd capacitor C1, C2, C3, first, second resistor R 1, R2 and crystal oscillator G1.Wherein: the first capacitor C1 and second resistor R 2 are formed the electrify restoration circuit of microprocessor D1; The second and the 3rd capacitor C2, C3 and crystal oscillator G1 form the clock oscillator circuit of microprocessor D1; First resistor R 1 is the reception resistance of Asynchronous Serial Interface driving circuit D2.Asynchronous Serial Interface driving circuit D2 is connected with asynchronous serial port among the microprocessor D1, constitutes the RS422 interface of standard.Microprocessor D1 is built-in with and adds the release control module, after microcontroller 8 powers on, swing under the control of device circuit at electrify restoration circuit and clock, microprocessor D1 operates according to flow process shown in Figure 3, promptly add the release control module and after initialization, receive the steering order that upper control computer is sent by the RS422 interface, after to the steering order decoding, judge, if be judged as the instruction that locks, I/O mouth by microprocessor D1 is exported the instruction that locks to first driver 7, promptly to the A of first driver 7, the B end is feed signals " 1 " respectively, " 0 ", judged whether the signal that puts in place that locks then, put in place after signal is high level signal when receiving locking of the 3rd relay K 3 output, return to upper control computer by the RS422 interface and to accuse the information of putting in place that locks, and the signal " 1 " that will be sent to the A port becomes signal " 0 "; If be judged as unlock command, export unlock commands by the I/O mouth of microprocessor D1 to first driver 7, promptly to A, the B of first driver 7 difference feed signals " 0 ", " 1 "; Judged whether the release signal that puts in place then, when the release of receiving the 4th relay k4 output puts in place after signal is high level signal, return to upper control computer by the RS422 interface and to accuse the release information that puts in place, and the signal " 1 " that will be sent to the B port becomes signal " 0 ".Cancel lock, the purpose of unlocking signal is, first driver, 7 output high level are given first relay assembly 6, and cut off first relay assembly 6, first relay assembly, 6 output no-voltages, each relay in the raw, the power consumption of control circuit be can reduce, the life-span of each components and parts and the reliability of circuit improved
Second driver 4 is made up of two driving circuits, first driving circuit is used to drive the 3rd relay K 3 and is made up of the first pull-up resistor R4, the first current-limiting resistance R5 and the first triode V5, and the input end of first driving circuit links to each other with the output terminal of the first optoelectronic switch V7.As the first optoelectronic switch V7 not during the switch catch 110 in adding release topworks 1, first driving circuit is to the control end output high level signal of the 3rd relay K 3,3 adhesives of the 3rd relay K and its first output terminal are to the input end output 28V of first relay K 1 voltage, its second output terminal is to the respective end output low level signal of the I/O of microprocessor D1 mouth simultaneously, 4 adhesives of the 4th relay K and its first output terminal are to the input end output 28V of second relay K 2 voltage, and its second output terminal is to the respective end output low level signal of the I/O of microprocessor D1 mouth simultaneously; When the first optoelectronic switch V7 is added switch catch 110 in the release topworks 1 and is triggered, first driving circuit is to the control end output low level signal of the 3rd relay K 3, the 3rd relay K 3 disconnects and its first output terminal no-voltage output, its second output terminal is to the I/O of microprocessor D1 mouth respective end output high level signal simultaneously, and the 4th relay K 4 still is an attracting state.Second driving circuit is used to drive the 4th relay K 4 and is made up of the second pull-up resistor R6, the second current-limiting resistance R7 and the second triode V6, and the input end of second driving circuit links to each other with the output terminal of the second optoelectronic switch V8.As the second optoelectronic switch V8 not during the switch catch 110 in adding release topworks 1, second driving circuit is to the control end output high level signal of the 4th relay K 4,4 adhesives of the 4th relay K and its first output terminal are exported 28 voltages to the input end of second relay K 2, its second output terminal is to the respective end output low level signal of the I/O of microprocessor D1 mouth simultaneously, and 3 adhesives of the 3rd relay K and its first output terminal are to the input end output 28V of first relay K 1 voltage; When the second optoelectronic switch V8 is added switch catch 110 in the release topworks 1 and is triggered, second driving circuit is to the control end output low level signal of the 4th relay K 4, the 4th relay K 4 disconnects and its first output terminal no-voltage output, its second output terminal is to the I/O of microprocessor D1 mouth respective end output high level signal simultaneously, and the 3rd relay K 3 still is an attracting state.
According to shown in Figure 4, add release topworks 1 comprise frame-type body 101, by worm screw Z
1With worm gear Z
2The worm couple that constitutes, screw drive axle 102, thrust nut 103, stop pin 104, buffer spring 105, two pins 106, locking sliding sleeve 107, sliding guide groove 108, slip pilot pin 109, switch catch 110 and cover plates 111.Frame-type body 101 (referring to Fig. 5) has a longitudinal hole 101-1 and two lateral aperture 101-2,101-3, the first lateral aperture 101-2 is through hole and the bottom that is positioned at frame-type body 101, the first lateral aperture 101-2 and longitudinal hole 101-1 are with tangent mode conducting, second lateral aperture is that rectangular opening and length direction are consistent with the direction of longitudinal hole, second lateral aperture is positioned at the middle part of frame-type body 101 and an end and longitudinal hole to pass through the mode conducting mutually, also respectively is provided with four mounting holes that link to each other with the optronic tracker fixture at the two ends up and down of frame-type body 101.Worm screw Z
1Two ends are connected in the first lateral aperture two ends of frame-type body 101, worm screw Z respectively by two clutch shaft bearings
1An end and the rotating shaft of motor 3 is connected and the other end radially is fixed with a pin Xd.The hypomere of screw drive axle 102 and worm gear Z
2Axis hole is connected and is positioned at worm gear Z
2Screw drive axle 102 positions in the axis hole two ends outsides are connected in the middle and lower part and the lower port of frame-type body 101 longitudinal holes, worm gear Z respectively by two second bearings
2With worm screw Z
1Engagement; The stage casing of screw drive axle 102 is provided with trapezoidal external thread and epimere is the guide pole screw rod.Advantages such as transmission shaft and worm couple are formed reducing gear, and this reducing gear has that reduction gear ratio is big, stable drive, compact conformation, volume are little.Thrust nut 103 (referring to Fig. 6) has trapezoidal internal thread and cooperates with the trapezoidal external thread in screw drive axle 102 stage casings, trapezoid spiral has advantages such as intensity is good, friction is less, efficient is higher, transmission power is bigger, the trapezoid spiral pair has the revesal auto-lock function simultaneously, can guarantee by the locking position of latch mechanism reliable.The outside cylinder of thrust nut 103 is divided two sections, and the epimere diameter is less and the screw 103-1 of two band counterbores are arranged in the radial symmetry position, and the hypomere diameter is big and be axially arranged with fluting 103-2 along outer wall.Stop pin 104 is for hollow cylinder and outside surface have higher smooth finish, and its endoporus has two step surfaces, first step face uniform two mounting holes along axis direction to the major diameter hole wall of stop pin 104 1 ends.Buffer spring 105 for cylindrical stage clip and and stop pin 104 be enclosed within the outside of screw drive axle 102 guide poles successively, one end of stop pin 104 band mounting holes is enclosed within the epimere of thrust nut 103, and buffer spring 105 two ends are separately fixed at the upper surface of thrust nut 103 and the second step face place of stop pin 104.Two pins 106 are connected in respectively in two screw 103-1 on the thrust nut 103, and the head of two pins 106 can slide at stop pin 104 corresponding mounting holes.Locking sliding sleeve 107 has good wear-resisting and antifriction performance, and its inside has in a plurality of annular grooves and the groove and scribbles railway grease, and it is outside and be connected with the upper port of frame-type body 101 that locking sliding sleeve 107 is enclosed within stop pin 104.Sliding guide groove 108 is connected for the tabular body that has rectangular channel and with at the bottom of the looping pit of frame-type body 101 second lateral aperture 101-3, and the length direction of sliding guide groove 108 rectangular channels is consistent with the direction of frame-type body 101 longitudinal hole 101-1.The chassis of slip pilot pin 109 is connected among the fluting 103-2 of thrust nut 103 by two screws, and the position, intermediate portion is positioned at the rectangular channel of sliding guide groove 108, and the top then is fixed with switch catch 110.Cover plate 111 is installed in the port of frame-type body 101 second lateral aperture 101-3, and limit switch group 2 is connected on the cover plate 111, and the distance between its first optoelectronic switch V7 and the second optoelectronic switch V8 equals the stroke that stop pin 104 moves.The material of frame-type body 101 is cast aluminium ZL114A in the present embodiment, worm screw Z
1, screw drive axle 102, stop pin 104 and pin 106 material be alloy steel 40Cr, worm gear Z
2, thrust nut 103, the locking sliding sleeve 107, sliding guide groove 108 and slip pilot pin 109 material be tin bronze QSn7-0.2, the material of buffer spring 105 is alloy steel 65Mn, the material of switch catch 110 and cover plate 111 is aluminium alloy 2A12.
Narrate mechanism of the present invention below in conjunction with preferred embodiment.
When receiving to export after locking of upper control computer instructed, microcontroller 8 adds lock signal to first driver 7, first driver, 7 output signals are controlled 6 adhesives of first relay assembly, if adding release topworks 1 this moment is locking when putting the position in place, the first optoelectronic switch V7 is a high level to the lock signal that puts in place of second driver 4 output, second driver, 4 output signals are controlled 5 adhesives of second relay assembly, it is first relay assembly, 6 no-output voltages that second relay assembly 5 cuts off the 28V voltage of exporting to first relay assembly 6, and protection is reactionless automatically to add release topworks 1; Do not locking when putting the position in place when adding release topworks 1, first relay assembly 6 receives the 28V voltage of second relay assembly, 5 outputs and exports simultaneously+and 28V voltage gives motor 3, motor 3 beginnings are just changeed, by 102 counter-rotatings of worm couple drive screw transmission shaft, because slip pilot pin 109 has limited relatively rotating between thrust nut 103 and the screw drive axle 102, therefore thrust nut 103 drives slip pilot pins 109 and switch catch 110 and promotes stop pins 104 by buffer spring 105 and moves vertically together, to add lock position be that the head of stop pin 104 is when all being inserted into the lock hole of optronic tracker orientation or pitching turntable (referring to Fig. 7) when stop pin 104 moves to, the switch catch 110 and the first optoelectronic switch V7 effect and the first optoelectronic switch V7 export the signal that puts in place that locks to second driver 4,5 adhesives of second driver, 4 controls, second relay assembly, it is first relay assembly, 6 no-output voltages that second relay assembly 5 cuts off the 28V voltage of exporting to first relay assembly 6, motor 3 stops main story, end locks, second relay assembly, 5 output high level signals are given microcontroller 8 simultaneously, and the latter returns the information of putting in place that locks of accusing to the host computer system.On the contrary; the output unlocking signal is given first driver 7 receive the unlock command of host computer when microcontroller 8 after; first driver, 7 output signals are controlled 6 adhesives of first relay assembly; if add release topworks 1 when release puts the position in place; the second optoelectronic switch V8 is to the second driver 4 output releases signal that puts in place; 5 adhesives of second driver, 4 controls, second relay assembly; it is first relay assembly, 6 no-output voltages that second relay assembly 5 cuts off the 28V voltage of exporting to first relay assembly 6; protection is reactionless automatically to add release topworks 1; if add release topworks 1 not when release puts the position in place; first relay assembly 6 receives the 28V voltage of second relay assembly, 5 outputs and exports simultaneously-and 28V voltage gives motor 3; motor 3 begins counter-rotating; screw drive axle 102 is just changeing; thrust nut 103 drives slip pilot pins 109 and switch catch 110 and moves down vertically together by two pins, 106 pulling stop pins 104; when stop pin 104 moves to unlocked position is that the head of stop pin 104 is when all withdrawing from from the lock hole of optronic tracker orientation or pitching turntable (referring to Fig. 4); the switch catch 110 and the second optoelectronic switch V8 effect and the second optoelectronic switch V8 are to the second driver 4 output releases signal that puts in place; 5 adhesives of second driver, 4 controls, second relay assembly; it is first relay assembly, 6 no-output voltages that second relay assembly 5 cuts off the 28V voltage of exporting to first relay assembly 6; motor 3 stops anti-pass; release finishes; simultaneously second relay assembly, 5 output high level signals are given microcontroller 8, and the latter returns the release information that puts in place of accusing to the host computer system.
Equally, use is connected in worm screw Z
1External handwheel of the pin Xd of the other end or handle insert or withdraw from the lock hole of optronic tracker orientation or pitching turntable by rotation hand wheel or handle drives stop pin 104, just can realize manually locking or manual unlocking to optronic tracker.
Claims (3)
1. navigation locking device that is applicable to optronic tracker is characterized in that: comprise be equipped with microprocessor [D1], first driver [7] that adds the release control module, first relay assembly [6] that contains first, second relay [K1, K2], motor [3], add release topworks [1], contain first, second optoelectronic switch limit switch group [2] of [V7, V8], second relay assembly [5] that contains second driver [4] of first driving circuit, second driving circuit and contain the 3rd, the 4th relay [K3, K4]; Frame-type body [101] is contained in the described release topworks that adds, the turbine and worm pair, screw drive axle [102], thrust nut [103], stop pin [104], buffer spring [105], two pins [106], locking sliding sleeve [107], sliding guide groove [108], slip pilot pin [109], switch washer [110] and cover plate [111], described frame-type body [101] contains a longitudinal hole [101-1] and two lateral aperture [101-2,101-3], first lateral aperture [101-2] is through hole and the bottom that is positioned at frame-type body [101], first lateral aperture [101-2] and longitudinal hole [101-1] be with tangent mode conducting, and the end that second lateral aperture [101-3] is positioned at the middle part of frame-type body [101] and second lateral aperture [101-3] and longitudinal hole [101-1] are to pass through the mode conducting mutually; Worm screw [Z in the turbine and worm pair
1] two ends are connected in the two ends and the worm screw [Z of first lateral aperture [101-2] respectively by two clutch shaft bearings
1] an end and the rotating shaft of motor [3] be connected; The hypomere of described screw drive axle [102] and the worm gear [Z in the turbine and worm pair
2] axis hole is connected and is positioned at turbine [Z
2] screw drive axle [102] position in the axis hole two ends outsides is connected in the middle and lower part and the lower port of longitudinal hole [101-1] respectively by two second bearings, the stage casing of screw drive axle [102] is provided with external thread and epimere is a guide pole; Described thrust nut [103] cooperates with the external thread in screw drive axle [102] stage casing; Described stop pin [104] is a hollow cylinder, and its endoporus has two step surfaces, first step face uniform two mounting holes along axis direction to the major diameter hole wall of stop pin one end; Described locking sliding sleeve [107] inside has in a plurality of annular grooves and the groove and scribbles lubricating oil; Described two pins [106] radial symmetry is connected in the epimere position of described thrust nut [103]; Described buffer spring [105] and described stop pin [104] are enclosed within the outside of described guide pole successively, one end of stop pin [104] band mounting hole is enclosed within the epimere of thrust nut [103] and two mounting holes that two pins [106] lay respectively at stop pin [104], and the two ends of buffer spring [105] are positioned at the upper surface of thrust nut [103] and the second step face place of stop pin [104] respectively; The mounting hole section outer cover locking sliding sleeve [107] of described stop pin [104] and the outside of locking sliding sleeve [107] and the upper port of frame-type body [101] are connected; Described sliding guide groove [108] is for having the tabular body of rectangular channel and be connected with frame-type body [101], and sliding guide groove [108] is positioned at that described longitudinal hole [101-1] is located with passing through mutually of second lateral aperture [101-2] and the direction of the length direction of rectangular channel and described longitudinal hole [101-1] is consistent; Described slip pilot pin [109] one ends are connected in a side of described thrust nut [103] and the rectangular opening that the other end is positioned at sliding guide groove [108]; Described switch washer [110] is connected in the other end of slip pilot pin [109]; Be connected described cover plate [111] and cover plate [111] of the port of described second lateral aperture [101-3] gone up described first, second optoelectronic switch [V7, V8] is installed, and the distance between first optoelectronic switch [V7] and second optoelectronic switch [V8] equals the mobile stroke of screw drive axle [102]; Under lock-out state, the upper end of described stop pin [104] is inserted in the lock hole of optronic tracker orientation or pitching revolving part, under released state, the upper end of described stop pin [104] is all withdrawed from from the lock hole of optronic tracker orientation or pitching revolving part; The described function that adds the release control module is, according to upper control computer provide lock the instruction or unlock command, by first driver [7] control, first relay assembly [6] drive motor [3] forward or reverse, the signal that puts in place that locks that provides according to the 3rd relay [K3], return the information of putting in place that locks of accusing to upper control computer, the release that provides according to the 4th relay [K4] signal that puts in place returns the release information that puts in place of accusing to upper control computer; When first optoelectronic switch [V7] is triggered by switch washer [110], its output signal is controlled the 3rd relay [K3] by first driving circuit and is cut off the just commentaries on classics voltage of first relay assembly [6] to motor [3] output, and sends the signal that puts in place that locks by the 3rd relay [K3] to the I/O mouth of microprocessor [D1]; When second optoelectronic switch [V8] is triggered by switch washer [110], its output signal is controlled the 4th relay [K4] by second driving circuit and is cut off the reversal voltage of first relay assembly [6] to motor [3] output, and by the 4th relay [K4] to the I/O mouth transmission release of microprocessor [D1] signal that puts in place.
2. the navigation locking device that is applicable to optronic tracker according to claim 1 is characterized in that: the external thread in the internal thread of described thrust nut [103] and described screw drive axle [102] stage casing is acme thread.
3. the navigation locking device that is applicable to optronic tracker according to claim 1 and 2, it is characterized in that: first to fourth relay [K1～K4] is double-contact relay, a terminal of the first input end of described first relay [K1] links to each other with first output terminal of described the 3rd relay [K3], another terminal of first input end is unsettled, a terminal ground connection of second input end of first relay [K1], another terminal is unsettled, and first, second output terminal correspondence of first relay [K1] is connected on the positive and negative binding post of described motor [3]; A terminal of the first input end of described second relay [K2] links to each other with first output terminal of described the 4th relay [K4], another terminal of first input end is unsettled, a terminal ground connection of second input end of second relay [K2], another terminal is unsettled; First, second output terminal correspondence of second relay [K2] is connected on the positive and negative binding post of described motor [3]; The first input end of third and fourth relay [K3, K4] is connected with outside first power supply, ground connection of two terminals of second input end, another is connected with outside second source, three, the second output terminal correspondence of the 4th relay [K3, K4] is connected on the difference end of the I/O mouth of described microprocessor [D1], when adding release control module output and add lock signal, first relay [K1] adhesive, second relay [K2] disconnects; When adding release control module output unlocking signal, first relay [K1] disconnects, second relay [K2] adhesive; When switch washer [110] during not over against first optoelectronic switch [V7], three, the 4th relay [K3, K4] adhesive simultaneously, [V7] is triggered when first optoelectronic switch, the input end of first output terminal of the 3rd relay [K3] and first relay [K1] disconnects, second output terminal of the 3rd relay [K3] is exported the signal that puts in place that locks to the I/O mouth of microprocessor [D1], and the 4th relay [K4] still keeps adhesive; When switch washer [110] during not over against second optoelectronic switch [V8], three, the 4th relay [K3, K4] adhesive simultaneously, [V8] is triggered when second optoelectronic switch, the input end of first output terminal of the 4th relay [K4] and second relay [K2] disconnects, second output terminal of the 4th relay [K4] is to the I/O mouth of microprocessor [D1] the output release signal that puts in place, and the 3rd relay [K3] still keeps adhesive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100137190A CN101794156B (en) | 2010-01-15 | 2010-01-15 | Navigation locking device suitable for photoelectric tracker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100137190A CN101794156B (en) | 2010-01-15 | 2010-01-15 | Navigation locking device suitable for photoelectric tracker |
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| CN101794156A CN101794156A (en) | 2010-08-04 |
| CN101794156B true CN101794156B (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010100137190A Active CN101794156B (en) | 2010-01-15 | 2010-01-15 | Navigation locking device suitable for photoelectric tracker |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289231B (en) * | 2011-05-03 | 2012-12-26 | 中国兵器工业第二〇五研究所 | Receiving control circuit synchronized with absolute time of photoelectric tracer |
| CN103743399B (en) * | 2014-01-01 | 2016-04-27 | 西安应用光学研究所 | Inertial navigation north-seeking system torque-variable adds solution lock control circuit |
| CN104714428B (en) * | 2015-01-09 | 2017-10-17 | 西安应用光学研究所 | Power-up protection control circuit for optronic tracker |
| CN108628357A (en) * | 2017-03-24 | 2018-10-09 | 北京航天计量测试技术研究所 | The electric-linked protection system of incubator turntable based on Multi-information acquisition |
| CN106997211B (en) * | 2017-05-16 | 2023-03-28 | 中国地震局工程力学研究所 | Automatic adjusting device for sensor orientation |
| CN111120448A (en) * | 2020-01-07 | 2020-05-08 | 吉林大学 | Electric servo hydraulic generator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100582983C (en) * | 2008-06-30 | 2010-01-20 | 中国兵器工业第二〇五研究所 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100582983C (en) * | 2008-06-30 | 2010-01-20 | 中国兵器工业第二〇五研究所 | Self-restoration control circuit for photoelectric tracking instrument pitching device entering spacing zone |
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| Title |
|---|
| JP特开2001-344022A 2001.12.14 |
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