CN105242688A - Vehicle-mounted photoelectric platform nested type intersecting shaft system structure - Google Patents
Vehicle-mounted photoelectric platform nested type intersecting shaft system structure Download PDFInfo
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- CN105242688A CN105242688A CN201510617783.2A CN201510617783A CN105242688A CN 105242688 A CN105242688 A CN 105242688A CN 201510617783 A CN201510617783 A CN 201510617783A CN 105242688 A CN105242688 A CN 105242688A
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Abstract
The invention relates to a vehicle-mounted photoelectric platform nested type intersecting shaft system structure. According to the shaft system structure, an exterior orientation rotation mechanism including a lower orientation shaft and an upper orientation shaft is driven by an exterior orientation motor to perform multiple rounds of exterior orientation rotation; an interior orientation rotation mechanism including an interior orientation seat and an interior orientation frame is driven by an interior orientation motor to perform small-angle interior orientation rotation and can perform the multiple rounds of the exterior orientation rotation along with the exterior orientation rotation mechanism; and a pitching mechanism composed of an pitching shaft and a pitching frame is driven by a pitching motor to perform pitching motion, and the whole pitching mechanism can perform the interior orientation rotation and the exterior orientation rotation along with the interior orientation rotation mechanism so as to drive a tracking camera on the pitching frame to perform exterior orientation, interior orientation and pitching motion. According to the invention, the purposes of saving the space and simplifying the structure are realized by use of a nested type intersecting shaft system. Most disturbances exerted by the outside on a platform is enabled to be isolated by an external-layer frame by use of a two-layer orientation motion frame so that an internal-layer frame can realize high-precision tracking and stability.
Description
Technical field
The invention belongs to optoelectronics technical field, be specifically related to a kind of nested type Crossing axes of vehicular photoelectric platform.
Background technology
Vehicular photoelectric platform is a kind of reconnaissance equipment in opto-electronics, has maneuverability, the in real time feature such as accurate, with strong points, is mainly used in ground reconnaissance system.Vehicular photoelectric platform is furnished with the multiple photoelectricity mission payloads such as visible ray, infrared, laser usually, when executing the task, no matter how the attitude and the circuit that carry car change, controlling photoelectric platform makes the optical axis of photoelectricity mission payload point to the scouting circuit and the target that do not depart from expection, thus reaches predetermined scouting object and recon effect.
In prior art, vehicular photoelectric platform majority adopts diaxon two framework cascaded structure, and the precision of this version is easily subject to as road conditions, the impact of the external environments such as wind-force.
Summary of the invention
The technical problem to be solved in the present invention is to provide that a kind of tracking accuracy is high, the vehicular photoelectric platform nested type Crossing axes structure of good stability.
In order to solve the problems of the technologies described above, vehicular photoelectric platform nested type Crossing axes structure of the present invention comprises pedestal, lower azimuth axis, outer orientation motor, outer orientation bearing, lower transfer panel, upper transfer panel, upper position axle, upper position motor, interior orientation seat, pitch axis, pitching motor, right pitching frame, pitch bearing, interior orientation framework, left pitching frame; Described outer orientation motor is fixed in the hollow cavity of pedestal, and its rotor is fixedly connected with lower azimuth axis, and stator is fixedly connected with pedestal; Lower azimuth axis is arranged on pedestal, is located between the two by outer orientation bearings; The top of lower azimuth axis is fixedly connected with upper position axle by changeover mechanism; Upper position motor is arranged on upper position axle, and its rotor is fixedly connected with upper position axle, and stator is fixedly connected with interior orientation seat; Undertaken spacing by position-limit mechanism between changeover mechanism and interior orientation seat; Interior orientation cover for seat is contained on upper position axle, is located between the two by interior orientation bearings; With through hole from the bottom to top and through hole from left to right on interior orientation framework; Upper position axle passes from the through hole from the bottom to top of interior orientation framework, and the top of the bottom of interior orientation framework and interior orientation seat is connected and fixed; Upper position axle is passed by the horizontal through hole in the middle part of pitch axis, is right-angled intersection with pitch axis; Right pitching frame, left pitching frame seat are in the through hole place from left to right of interior orientation framework and be fixedly connected with the two ends of pitch axis; Pitching motor is positioned at right pitching frame cavity, and its rotor is fixedly connected with pitch axis, and stator is fixedly connected with interior orientation framework, and by pitch bearing supporting and location between the two ends of pitch axis and interior orientation framework; Undertaken spacing by position-limit mechanism between left pitching frame (18) and interior orientation framework (16).
Principle of work illustrates: outer orientation motor, lower azimuth axis, changeover mechanism and upper position axle form outer orientation rotating mechanism; Outer orientation motor drives lower azimuth axis to rotate by its rotor, thus the outer orientation driving whole outer orientation rotating mechanism opposite base to do multi-turn is rotated.Interior orientation motor, interior orientation seat and interior orientation framework form interior orientation rotating mechanism; When outer orientation rotating mechanism rotates, the outer orientation driving whole interior orientation rotating mechanism simultaneously to make multi-turn by the rotor of interior orientation motor is rotated; During interior orientation machine operation, because its rotor is fixedly connected with upper position axle, therefore interior orientation seat and interior orientation framework can be driven to make interior orientation relative to upper position axle by its stator and rotate.Pitch axis, pitching motor, pitching frame form luffing mechanism; Whole luffing mechanism can be made interior orientation with interior orientation rotating mechanism and rotate and and outer orientation rotation.Pitching motor drives pitch axes by its rotor, drives pitching frame to do luffing relative to interior orientation rotating mechanism; Like this, the tracking camera be arranged on pitching frame can do outer orientation rotation with luffing mechanism simultaneously, interior orientation is rotated and luffing.
Described lower azimuth axis is quill shaft.
Described upper position axle is quill shaft.
Described pitch axis is quill shaft.
Described changeover mechanism comprises lower transfer panel and upper transfer panel, and the top of lower azimuth axis is fixedly connected with upper position axle by lower transfer panel, upper transfer panel successively.
Further, the present invention also comprises interior orientation locating part; Interior orientation locating part is fixed on transfer panel, and can slide in the circular arc stopper slot of interior orientation seat, the small angle rotation realized between interior orientation framework and changeover mechanism is spacing.
Further, the present invention also comprises pitching locating part, pitching limited block is fixed on left pitching frame, and can slide in the circular arc stopper slot of interior orientation framework, the small angle rotation realized between left and right pitching frame and interior orientation framework (16) is spacing.
Described outer orientation motor adopts permanent magnet D.C. torque motor.
Described upper position motor adopts permanent magnet D.C. torque motor.
Described pitching motor adopts permanent magnet D.C. torque motor.
Beneficial effect of the present invention:
1, adopt a kind of nested type Crossing axes structure, azimuth axis and pitch axis are criss-cross construction, reach and save the object that space simplifies structure.
2, adopt outer orientation rotating mechanism to realize azimuth rotation slightly to control, and adopt interior orientation rotating mechanism to realize the control of azimuth rotation essence, the azimuth motion the most easily affecting precision is made independently to become two-layer framework, most of disturbance of outer bound pair photoelectric platform is isolated by outer orientation rotating mechanism, thus achieve interior orientation framework and pitching frame high precision, the stability contorting of internal layer, ensure that the high precision and stability tracing control of following the tracks of camera.
3, pedestal, interior orientation framework, right pitching frame adopt hollow structure, outer orientation motor, pitching motor are arranged in the hollow cavity of pedestal, right pitching frame respectively, not only alleviate whole photoelectric platform weight, also make whole photoelectric platform structure compacter simultaneously.
4, lower azimuth axis, upper position axle, pitch axis are quill shaft, further mitigate whole photoelectric platform weight.
The purposes such as the present invention can be used for observing mobile surface targets, measure, tracking.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is a kind of vehicular photoelectric platform of the present invention nested type Crossing axes structural representation.
In figure, 1, pedestal, 2, lower azimuth axis, 3, outer orientation motor, 4, outer orientation bearing, 5, lower transfer panel, 6, upper transfer panel, 7, interior orientation locating part, 8, upper position axle, 9, upper position motor, 10, interior orientation seat, 11, interior orientation bearing, 12, pitch axis, 13, pitching motor, 14, right pitching frame, 15, pitch bearing, 16, interior orientation framework, 17, pitching locating part, 18, left pitching frame.
Embodiment
As shown in Figure 1, vehicular photoelectric platform nested type Crossing axes structure of the present invention comprises pedestal 1, lower azimuth axis 2, outer orientation motor 3, outer orientation bearing 4, lower transfer panel 5, upper transfer panel 6, interior orientation locating part 7, upper position axle 8, upper position motor 9, interior orientation seat 10, interior orientation bearing 11, pitch axis 12, pitching motor 13, right pitching frame 14, pitch bearing 15, interior orientation framework 16, pitching spacing 17, left pitching frame 18.
Described pedestal 1 inside is the cavity of hollow; Lower azimuth axis 2 and upper position axle 8 are quill shaft.Outer orientation motor 3 is fixed in the hollow cavity of pedestal 1, and its rotor is fixedly connected with lower azimuth axis 2, and stator is fixedly connected with pedestal 1; Lower azimuth axis 2 is positioned at the central mounting hole of pedestal 1, between the two by outer orientation bearing 4 supporting and location; The top of lower azimuth axis 2 is fixedly connected with upper position axle 8 by lower transfer panel 5, upper transfer panel 6 successively.
Upper position motor 9 to be arranged on upper position axle 8 and to be positioned at the top of transfer panel 6, and the rotor of upper position motor 9 is fixedly connected with upper position axle 8, and stator is fixedly connected with interior orientation seat 10; Interior orientation seat 10 is sleeved on upper position axle 8, between the two by interior orientation bearing 11 supporting and location; Interior orientation framework 15 is hollow structure, with through hole from the bottom to top and through hole from left to right on it; Upper position axle 8 passes from the through hole from the bottom to top of interior orientation framework 16, and the top of the bottom of interior orientation framework 16 and interior orientation seat 10 is connected and fixed; Interior orientation locating part 7 is fixed on transfer panel 6, and can slide in the circular arc stopper slot of interior orientation seat 10, the small angle rotation realizing interior orientation framework 15 is spacing.
Described pitch axis 12 is quill shaft, and upper position axle 8 is passed by the horizontal through hole in the middle part of this axle, with upper position axle 8 in right-angled intersection; Left and right pitching frame seat is in the through hole place from left to right of interior orientation framework 16 and be fixedly connected with the two ends of upper position axle 8; Pitching motor 13 is positioned at right pitching frame 14, and its rotor is fixedly connected with pitch axis 12, and stator is fixedly connected with interior orientation framework 16, and by pitch bearing 15 supporting and location between the two ends of pitch axis 12 and interior orientation framework 16; Pitching limited block 17 is fixed on left pitching frame 18, and can slide in the circular arc stopper slot of interior orientation framework 16, the small angle rotation realizing left and right pitching frame is spacing.
Pedestal 1 adopts casting aluminium material, lower azimuth axis 2 adopts 40Cr steel, outer orientation motor 3 adopts permanent magnet D.C. torque motor, outer orientation bearing 4 is standard rolling bearing, lower transfer panel 5 adopts 45 steel, upper transfer panel 6 adopts 45 steel, interior orientation spacing 7 adopts 45 steel, upper position axle 8 adopts 40Cr steel, upper position motor 9 adopts permanent magnet D.C. torque motor, interior orientation seat 10 adopts casting aluminium material, interior orientation bearing 11 is standard rolling bearing, pitch axis 12 adopts 40Cr steel, pitching motor 13 adopts permanent magnet D.C. torque motor, right pitching frame 14 adopts casting aluminium material, pitch bearing 15 is standard rolling bearing, interior orientation framework 16 adopts casting aluminium material, pitching spacing 17 adopts 45 steel, left pitching frame 18 adopts casting aluminium material.
The invention is not restricted to above-mentioned embodiment, all right solid shaft form of lower azimuth axis, upper position axle, pitch axis, interior orientation rotating mechanism and luffing mechanism can also adopt other position limiting structure forms.Therefore, all simple deformation of making on the claims in the present invention 1 technical scheme basis, all the invention is intended within protection domain.
Claims (8)
1. a vehicular photoelectric platform nested type Crossing axes structure, is characterized in that comprising pedestal (1), lower azimuth axis (2), outer orientation motor (3), outer orientation bearing (4), lower transfer panel (5), upper transfer panel (6), upper position axle (8), upper position motor (9), interior orientation seat (10), pitch axis (12), pitching motor (13), right pitching frame (14), pitch bearing (15), interior orientation framework (16), left pitching frame (18); Described outer orientation motor (3) is fixed in the hollow cavity of pedestal (1), and its rotor is fixedly connected with lower azimuth axis (2), and stator is fixedly connected with pedestal (1); Lower azimuth axis (2) is arranged on pedestal (1), between the two by outer orientation bearing (4) supporting and location; The top of lower azimuth axis (2) is fixedly connected with upper position axle (8) by changeover mechanism; Upper position motor (9) is arranged on upper position axle (8), and its rotor is fixedly connected with upper position axle (8), and stator is fixedly connected with interior orientation seat (10); Undertaken spacing by position-limit mechanism between changeover mechanism and interior orientation seat (10); Interior orientation seat (10) is sleeved on upper position axle (8), between the two by interior orientation bearing (11) supporting and location; With through hole from the bottom to top and through hole from left to right on interior orientation framework (16); Upper position axle (8) passes from the through hole from the bottom to top of interior orientation framework (16), and the top of the bottom of interior orientation framework (16) and interior orientation seat (10) is connected and fixed; Upper position axle (8) is passed, with pitch axis (12) in right-angled intersection by the horizontal through hole at pitch axis (12) middle part; Right pitching frame (14), left pitching frame (18) seat are in the through hole place from left to right of interior orientation framework (16) and be fixedly connected with the two ends of pitch axis (12); Pitching motor (13) is positioned at right pitching frame (14) cavity, its rotor is fixedly connected with pitch axis (12), stator is fixedly connected with interior orientation framework (16), and by pitch bearing (15) supporting and location between the two ends of pitch axis (12) and interior orientation framework (16); Left pitching frame (18) and undertaken spacing by position-limit mechanism between right pitching frame (14) and interior orientation framework (16).
2. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described lower azimuth axis (2) is quill shaft.
3. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described upper position axle (8) is quill shaft.
4. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described pitch axis (12) is quill shaft.
5. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, it is characterized in that described changeover mechanism comprises lower transfer panel (5) and upper transfer panel (6), the top of lower azimuth axis (2) successively by lower transfer panel (5, upper transfer panel (6) is fixedly connected with upper position axle (8).
6. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described outer orientation motor (3) adopts permanent magnet D.C. torque motor.
7. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described upper position motor (9) adopts permanent magnet D.C. torque motor.
8. vehicular photoelectric platform nested type Crossing axes structure according to claim 1, is characterized in that described pitching motor (13) adopts permanent magnet D.C. torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617783.2A CN105242688A (en) | 2015-09-25 | 2015-09-25 | Vehicle-mounted photoelectric platform nested type intersecting shaft system structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510617783.2A CN105242688A (en) | 2015-09-25 | 2015-09-25 | Vehicle-mounted photoelectric platform nested type intersecting shaft system structure |
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| CN105242688A true CN105242688A (en) | 2016-01-13 |
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| CN201510617783.2A Pending CN105242688A (en) | 2015-09-25 | 2015-09-25 | Vehicle-mounted photoelectric platform nested type intersecting shaft system structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107479579A (en) * | 2017-08-24 | 2017-12-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of spacing detection method and system of the framework photoelectric stable platform of two axle four |
| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN112268551A (en) * | 2020-10-15 | 2021-01-26 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and aiming device based on optical inner channel and double-seal ring dynamic seal |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479579A (en) * | 2017-08-24 | 2017-12-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of spacing detection method and system of the framework photoelectric stable platform of two axle four |
| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN112268551A (en) * | 2020-10-15 | 2021-01-26 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and aiming device based on optical inner channel and double-seal ring dynamic seal |
| CN112268551B (en) * | 2020-10-15 | 2022-06-28 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and aiming device based on optical inner channel and double-seal ring dynamic seal |
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