CN104019791A - Photoelectric tracking platform with umbrella-shaped multilayer distributed load structure - Google Patents
Photoelectric tracking platform with umbrella-shaped multilayer distributed load structure Download PDFInfo
- Publication number
- CN104019791A CN104019791A CN201410198349.0A CN201410198349A CN104019791A CN 104019791 A CN104019791 A CN 104019791A CN 201410198349 A CN201410198349 A CN 201410198349A CN 104019791 A CN104019791 A CN 104019791A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- grating
- rotary
- platform
- screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
Abstract
The invention provides a brand-new photoelectric theodolite tracking platform structure which can meet the photoelectric tracking requirements of wide-field system application. A photoelectric tracking platform with an umbrella-shaped multilayer distributed load structure comprises multiple layers of rotary tables, wherein each two adjacent layers of rotary tables are fixedly connected with each other through a transitional connection cover by screws; a direction tracking system and a pitching tracking system are arranged on each layer of rotary table, and each pitching tracking system is integrally fixedly mounted above the corresponding direction tracking system and comprises a servo hydraulic cylinder, a grating ruler assembly and multiple sets of connecting rod assemblies; each connecting rod assembly comprises a driving connecting rod, an intermediate connecting rod and a rotary connecting rod, which are sequentially hinged through rotary pins, and an optical system load is fixedly mounted on each rotary connecting rod; at one end of each connecting rod assembly, the rotary connecting rod is hinged to a fixed arm through the corresponding rotary pin, and at the other end of each connecting rod assembly, the driving connecting rod is fixedly mounted on a hydraulic piston, so that the reciprocating motion of the hydraulic piston in a vertical axial direction drives the pitching motion of the optical system load through the connecting rod assembly.
Description
Technical field
The present invention relates to a kind of electro-optic theodolite tracking platform.
Background technology
As everyone knows, traditional optictracking device, its track frame is two axle systems that comprise Z-axis and transverse axis, according to the connection of objective table is different with load distribution mode, be normally defined U-shaped and T-shaped structure, the track frame design of this traditional structure is easy, and from the angle analysis of rigidity and natural resonance frequency, is also conducive to improve the measuring accuracy of system.But the electro-optical tracking device based on this structure, optics load is the parallel placement of direction along vertical-horizontal axle, even if therefore configure a plurality of optical detectors, but the optical axis of all detectors points at infinity and converges and become the same space position, the optics visual field of its system is determined by the detector target surface size of some optics load and the focal length of optical system, in order to guarantee certain measuring distance and resolution characteristic, maximum optics visual field is relative also very limited.Corresponding separate unit transit can only be followed the tracks of single same target when work.
Two above-mentioned problems are caused by traditional diaxon track frame inherent shortcoming, and the approach therefore solving is unique, must carry out basic innovative design to this body structure of track frame.Be subject to regrettably the constraint of traditional thought, people only pay attention to electro-optical tracking device and measure the application with document recording function as target trajectory, and ignore its in wide visual field etc. the application extension of wide-range more.Therefore the design of photoelectric follow-up structure being focused mostly in recent years and improving operating distance, improving the links such as measuring accuracy, is almost blank for the research that is intended to address the above problem, and at home and abroad pertinent literature is not found similar report in recent years.
Summary of the invention
The invention provides a kind of brand-new electro-optic theodolite tracking platform structure, can meet the photoelectric tracking demand of wide visual field system application.
Basic scheme of the present invention is as follows:
The multilayer distributed support structures photoelectric tracking of umbrella platform, comprises multilayer turntable, all by transition, connects cover and adopt screw to be fixedly connected with between the turntable of adjacent layer; On every one deck turntable, be provided with azimuth follow up system and the whole following in elevation system that is fixedly installed in azimuth follow up system top, described following in elevation system comprises servo hydraulic cylinder, grating scale assembly and overlaps link assembly more;
Described link assembly comprises and adopts rotation pin hinged drive link, intermediate connecting rod and rotation connecting rod successively, wherein on rotation connecting rod, is installed with optical system load; The sidewall of servo hydraulic cylinder is evenly distributed with a plurality of fixed arms in same level, corresponding one by one with described many cover link assemblies, on the hydraulic piston of servo hydraulic cylinder according to corresponding a plurality of connecting rods fixed position that is distributed with, fixed arm position, the one end that is link assembly is hinged by rotation pin and fixed arm for rotating connecting rod, the other end of link assembly is that drive link is fixedly installed on hydraulic piston, realizes hydraulic piston and moves through the pitching of link assembly drive optical system load along the to-and-fro movement of vertical axial direction.
Based on above-mentioned basic scheme, the present invention also does following optimization and limits and improve:
Described grating scale assembly comprises grating scale, grating reading device and grating rod support, grating rod support is fixedly installed on hydraulic piston by screw, grating reading device is fixedly installed on grating rod support by screw, be installed on transition be connected cover on described grating scale carry out hydraulic servo accurate feedback.Grating scale can adopt bonding mode to be connected cover with transition and connect firmly.
Described azimuth follow up system is mainly comprised of precision bearing system, torque motor, optical encoder, identical with the mounting structure of traditional scheme.
The two ends of described intermediate connecting rod are to distinguish hinged by the combination of rotation pin and A type circlip for shaft and drive link, rotation connecting rod.
Optical system load is provided with one group of mounting ear seat (being generally two), and described rotation connecting rod, through mounting ear seat, is fixedly connected with by screw, and it is fixing to adopt screw lock baffle ring to strengthen by holding screw.
The azimuth follow up system of every one deck turntable is fixedly connected with the mode of following in elevation system by screw fastening transition piece.
The present invention has following beneficial effect:
Interior outer turret can be installed varying number, dissimilar optical system load according to actual needs, by visual field planning and the splicing of each optical system, can realize the comprehensive visual field of certain sector completely, during static sensing, theory can reach 360 ° of omnibearing visual fields.Even do not reach comprehensive panorama after the splicing of static working field of view, but each optics load needs same optics load in the relatively original track frame structure in the region of News Search also to greatly reduce.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural representation (front view) of arbitrary layer in following in elevation system.
Fig. 3 is the vertical view of Fig. 2.
Drawing reference numeral explanation:
Turntable following in elevation system in 1-, turntable azimuth follow up system in 2-, 3-outer turret following in elevation system, 4-outer turret azimuth follow up system, 5,6-transition connects cover, 7,8-transition piece, 9,10,11,12,13,14,15-gib screw, 16-grating scale, 17-grating rod support, 18-grating scale reader, 19-hydraulic piston, 20-servo hydraulic cylinder, 21-A type circlip for shaft, 22-screw lock baffle ring, 23-holding screw, 24-drive link, 25-intermediate connecting rod, 26-rotates connecting rod, and 27-rotates pin, 28-fictitious load.
Embodiment
A plurality of optics load of the present invention is to be evenly distributed on each sidewall of hydraulic cylinder on Z-axis, during work by servo hydraulic system and linkage, control the amplitude of opening of the load of each sidewall, thereby reach the optics optical axis in the adjustment of pitch orientation, during end-of-job, drawing in, because the optical axis bearing sense of each detector is different, is to be uniformly distributed in a circumference, by each visual field, planned and spliced, theory can realize static 360 ° of omnibearing visual field sizes.The implication of multilayer refers to due to the design of having omitted horizontal shafting, only need carry out the design of compound frame to Z-axis and linkage, can realize Z-axis multiaxis from top to bottom rotates, control different orientation adjustment, simultaneously due to control the servo hydraulic system of pitching adjustment be also each layer independently, so realize single device and follow the tracks of a plurality of targets simultaneously.Due to restrictions such as structural stability, rigidity, upper strata turntable is less than lower floor's turntable conventionally.
Embodiment by double-layer structure elaborates the present invention below; For three layers of above situation, its principle is identical with two-layer turntable, can be defined as respectively the first turntable, the second turntable, the 3rd turntable ...Two-layer owing to only having, therefore can be defined as respectively outer turret and interior turntable.The tracker of traditional scheme realizes monotrack by orientation, following in elevation system; The present embodiment is realized multiobject tracking by building the double-deck absolute construction of interior turntable and outer turret.According to mentality of designing, whole system forms (turntable, outer turret) by inside and outside two rotating shafts of rotating along vertical axis, it is both dual-axis tracking system, comprise azimuth follow up system and following in elevation system, wherein azimuth follow up system is comprised of precision bearing system, torque motor, optical encoder, and following in elevation is comprised of Hydrauservo System, linkage, linear grating chi etc.The design of this system can guarantee that separate unit transit follows the tracks of two targets simultaneously.
As shown in Figure 1, Fig. 2 can think the dimension sketch of interior turntable to the dimension sketch of this track frame platform structure, and the structure of outer turret pitching and interior turntable pitching is basic identical.The umbrella strutting just as handstand during work, realize target detecting function and multiobject following function, the angle of cutting apart between each fictitious load is 90 °.This invention consists of outer turret azimuth follow up system, outer turret following in elevation system, interior turntable azimuth follow up system, interior turntable following in elevation system, transition piece, transition piece, transition connection cover, transition connection cover, a plurality of gib screw, as shown in Figure 1.Inside and outside following in elevation system architecture form is identical, comprise that fictitious load, rotation connecting rod, intermediate connecting rod, drive link, transition connect cover, grating scale, grating rod support, grating scale reader, hydraulic piston, servo hydraulic cylinder, A type circlip for shaft, screw lock baffle ring, gib screw, holding screw, as shown in Figure 2.
Outer turret azimuth follow up system and ground fixedly terrestrial reference are connected, and realize the orientation of ground floor and infinitely rotate.Transition piece in the middle of outer turret following in elevation system and outer turret azimuth follow up system, by the fastening transition piece of gib screw and outer turret azimuth follow up system, the fastening transition piece of gib screw and outer turret azimuth follow up system.The now transition of outer turret connects cover becomes the bridge that interior outer turret connects, between outer turret servo hydraulic cylinder and interior turntable azimuth follow up system, by gib screw and outer turret servo hydraulic cylinder, connect firmly, interior turntable azimuth follow up system connects firmly with it by gib screw.The same with outer turret version as the second layer and the interior turntable that works alone, interior turntable following in elevation system is positioned on turntable azimuth follow up system, middlely by transition piece, connects.Turntable following in elevation system and transition piece in gib screw connects, turntable azimuth follow up system and transition piece in gib screw connects.Transition connects cover and is positioned on table servo hydraulic cylinder, by gib screw, connects, and consults Fig. 1.
The version all fours of interior turntable and outer turret, azimuth follow up system is comprised of precision bearing system, motor and scrambler, at this, does not describe in detail.Following in elevation system is respectively by servo hydraulic cylinder, and grating scale, various connecting rod form.Servo hydraulic cylinder is positioned at the below of system as the pedestal of this system, surrounding is by rotation pin and rotation rod hinge connection.Fictitious load is connected on rotation connecting rod, and gib screw Complete Bind is lived the degree of freedom of fictitious load, and screw lock baffle ring is strengthened fixing reliability by holding screw.Hydraulic piston is in the vertical axial direction to-and-fro movement of servo hydraulic cylinder, and gib screw connects firmly drive link and hydraulic piston, realizes the interlock of drive link and hydraulic piston.Between drive link and rotation connecting rod, intermediate connecting rod is undertaken hinged by rotation pin and A type circlip for shaft and the two, realizes hydraulic piston and drives the pitching of fictitious load to move.Drive link is in 90 ° being evenly distributed on hydraulic piston respectively, forms fictitious load 90 ° of distributions on individual layer and carry out umbrella interlock, has grating rod support on hydraulic piston, and gib screw is fixed the two.Grating reading device connects firmly on grating rod support by gib screw, and the grating scale being connected with transition on cover carries out hydraulic servo accurate feedback, consults Fig. 2,3.
Claims (6)
1. the multilayer distributed support structures photoelectric tracking of umbrella platform, is characterized in that: comprise multilayer turntable, all by transition, connect cover and adopt screw to be fixedly connected with between the turntable of adjacent layer; On every one deck turntable, be provided with azimuth follow up system and the whole following in elevation system that is fixedly installed in azimuth follow up system top,
Described following in elevation system comprises servo hydraulic cylinder, grating scale assembly and overlaps link assembly more;
Described link assembly comprises and adopts rotation pin hinged drive link, intermediate connecting rod and rotation connecting rod successively, wherein on rotation connecting rod, is installed with optical system load; The sidewall of servo hydraulic cylinder is evenly distributed with a plurality of fixed arms in same level, corresponding one by one with described many cover link assemblies, on the hydraulic piston of servo hydraulic cylinder according to corresponding a plurality of connecting rods fixed position that is distributed with, fixed arm position, the one end that is link assembly is hinged by rotation pin and fixed arm for rotating connecting rod, the other end of link assembly is that drive link is fixedly installed on hydraulic piston, realizes hydraulic piston and moves through the pitching of link assembly drive optical system load along the to-and-fro movement of vertical axial direction.
2. the multilayer distributed support structures photoelectric tracking of umbrella according to claim 1 platform, it is characterized in that: described grating scale assembly comprises grating scale, grating reading device and grating rod support, grating rod support is fixedly installed on hydraulic piston by screw, grating reading device is fixedly installed on grating rod support by screw, be installed on transition be connected cover on described grating scale carry out hydraulic servo accurate feedback.
3. the multilayer distributed support structures photoelectric tracking of umbrella according to claim 1 platform, is characterized in that: described azimuth follow up system is mainly comprised of precision bearing system, torque motor and optical encoder.
4. the multilayer distributed support structures photoelectric tracking of umbrella according to claim 1 platform, is characterized in that: the two ends of described intermediate connecting rod are to distinguish hinged by the combination of rotation pin and A type circlip for shaft and drive link, rotation connecting rod.
5. the multilayer distributed support structures photoelectric tracking of umbrella according to claim 1 platform, it is characterized in that: optical system load is provided with one group of mounting ear seat, described rotation connecting rod is through mounting ear seat, by screw, be fixedly connected with, and it is fixing to adopt screw lock baffle ring to strengthen by holding screw.
6. the multilayer distributed support structures photoelectric tracking of umbrella according to claim 1 platform, is characterized in that: the azimuth follow up system of every one deck turntable is fixedly connected with the mode of following in elevation system by screw fastening transition piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410198349.0A CN104019791B (en) | 2014-05-12 | 2014-05-12 | The multilayer distributed support structures photoelectric tracking platform of umbrella |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410198349.0A CN104019791B (en) | 2014-05-12 | 2014-05-12 | The multilayer distributed support structures photoelectric tracking platform of umbrella |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104019791A true CN104019791A (en) | 2014-09-03 |
| CN104019791B CN104019791B (en) | 2016-06-08 |
Family
ID=51436675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410198349.0A Active CN104019791B (en) | 2014-05-12 | 2014-05-12 | The multilayer distributed support structures photoelectric tracking platform of umbrella |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104019791B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105300346A (en) * | 2015-11-19 | 2016-02-03 | 中国工程物理研究院应用电子学研究所 | Full-automatic protector of photoelectric theodolite and control method thereof |
| CN107972605A (en) * | 2017-11-21 | 2018-05-01 | 上海航天测控通信研究所 | A kind of high accuracy vehicle-mounted rotating table |
| CN114066988A (en) * | 2022-01-18 | 2022-02-18 | 中国人民解放军63921部队 | Automatic calibration method of photoelectric measurement and control equipment and photoelectric measurement and control equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5812247A (en) * | 1995-12-23 | 1998-09-22 | Stn Atlas Electronik Gmbh | Arrangement for optically tracking moving objects and for measuring their trajectories |
| CN101852229A (en) * | 2010-04-30 | 2010-10-06 | 清华大学 | Experiment table for kinetic control of hydraulic servo driving system |
| CN203881333U (en) * | 2014-05-12 | 2014-10-15 | 中国科学院西安光学精密机械研究所 | Umbrella-shaped multilayer distribution type load structure photoelectric tracking platform |
-
2014
- 2014-05-12 CN CN201410198349.0A patent/CN104019791B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5812247A (en) * | 1995-12-23 | 1998-09-22 | Stn Atlas Electronik Gmbh | Arrangement for optically tracking moving objects and for measuring their trajectories |
| CN101852229A (en) * | 2010-04-30 | 2010-10-06 | 清华大学 | Experiment table for kinetic control of hydraulic servo driving system |
| CN203881333U (en) * | 2014-05-12 | 2014-10-15 | 中国科学院西安光学精密机械研究所 | Umbrella-shaped multilayer distribution type load structure photoelectric tracking platform |
Non-Patent Citations (3)
| Title |
|---|
| 杨立保，李艳红，王晶，赵楠，乔彦峰: "多镜头成像拼接方法在经纬仪系统中的应用", 《光学精密工程》 * |
| 王旻，宋立维，乔彦峰，余毅: "外视场拼接测量技术及其实现", 《光学精密工程》 * |
| 穆治亚，魏仲慧，何昕，王东鹤: "采用多经纬仪的红外多目标实时跟踪系统设计", 《光电子技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105300346A (en) * | 2015-11-19 | 2016-02-03 | 中国工程物理研究院应用电子学研究所 | Full-automatic protector of photoelectric theodolite and control method thereof |
| CN107972605A (en) * | 2017-11-21 | 2018-05-01 | 上海航天测控通信研究所 | A kind of high accuracy vehicle-mounted rotating table |
| CN114066988A (en) * | 2022-01-18 | 2022-02-18 | 中国人民解放军63921部队 | Automatic calibration method of photoelectric measurement and control equipment and photoelectric measurement and control equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104019791B (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107132635B (en) | High-precision reflecting mirror switching device | |
| US20230133584A1 (en) | Articulating joint solar panel array | |
| CN106338719B (en) | A kind of two one for rcs measurement hang object support turntable | |
| CN102507155A (en) | Device for detecting wave front of large-aperture optical system | |
| US20160124437A1 (en) | Measurement Control System for Multi-Shaft Supported Air Floatation Platform | |
| CN108006410B (en) | A kind of twin shaft indexing mechanism for Strapdown Inertial Navigation System location position | |
| CN103777645B (en) | Device is followed the tracks of for astronomical telescope dual redundant telescope | |
| CN103743338B (en) | There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function | |
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| US20120279486A1 (en) | Heliostat for collecting sunlight and method of controlling the same | |
| CN101520320B (en) | Aspheric aperture splicing measuring device based on spherical air-bearing shafts | |
| CN104019791A (en) | Photoelectric tracking platform with umbrella-shaped multilayer distributed load structure | |
| CN207501862U (en) | A kind of Liftable type binocular stereo vision measuring device | |
| WO2016000895A1 (en) | Azimuthal rotation mechanism for solar trackers | |
| CN203881333U (en) | Umbrella-shaped multilayer distribution type load structure photoelectric tracking platform | |
| CN105445288A (en) | Novel combined movable inspection system | |
| CN105242570A (en) | Aircraft-to-sun relationship ground simulation device | |
| CN105093521A (en) | Crank-slider-driven swing mirror mechanism | |
| US10072745B1 (en) | Straight line mechanism with anti-tip features | |
| CN109084960B (en) | Double-parallel-light-tube type tracking and aiming turntable pointing accuracy testing system and method | |
| CN202126429U (en) | Combined 3-6-axis three-dimensional flaw detection device | |
| CN108594423B (en) | Flexible airborne system for supporting and precisely driving azimuth axis of ultra-large telescope | |
| CN207638661U (en) | A kind of small-sized laser space communication terminal rough tracking device | |
| CN102865829A (en) | Vertical wide-range high-precision optical plane testing device | |
| CN205748297U (en) | A kind of optical system vertical dress checking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |