CN109708635A - A kind of three axis inertially stabilized platforms - Google Patents
A kind of three axis inertially stabilized platforms Download PDFInfo
- Publication number
- CN109708635A CN109708635A CN201910020819.7A CN201910020819A CN109708635A CN 109708635 A CN109708635 A CN 109708635A CN 201910020819 A CN201910020819 A CN 201910020819A CN 109708635 A CN109708635 A CN 109708635A
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- roll
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- inertially stabilized
- frame
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Abstract
The invention proposes a kind of three axis inertially stabilized platforms, and three axis inertially stabilized platforms include: pitch axis module, including pitching frame, pitching shaft, pitch bearing；Roll shafting component, including roll frame, roll bearing, roll shaft；Azimuth axle component, including azimuth base, bearing, direction rotating shaft；Pitch bearing is mounted between pitching shaft and roll frame, is connected between pitching frame and pitching shaft by fastener；Roll bearing is mounted between direction rotating shaft and roll frame；Bearing is mounted between azimuth base and direction rotating shaft；Be equipped on pitching frame for meet dissimilar sensor have the general transition plates of standard interface.The exchange of multiple sensors is realized in such a way that general transition plates is installed on pitching frame using three axis inertially stabilized platforms of the invention, meets the versatility of multiple sensors.
Description
Technical field
The present invention relates to aerial remote sens ing technique fields, more particularly to a kind of three axis inertially stabilized platforms.
Background technique
Video and imaging sensor as quickly, the intuitive channel for obtaining information and means, be widely used in military surveillance,
The fields such as space remote sensing, hazard forecasting, resource detection.By the dynamic carrier position variation such as aircraft, vibration, gas when working sensor
The factors such as flow disturbance influence, and are inevitably generated optical axis shaking, influence system imaging performance.Pass through in air remote sensing field used
Property stabilized platform to airborne platform 3 orientation, pitching, roll directions attitudes vibration carry out angle compensation, guarantee optics it is distant
Sense load can work in preferable imaging circumstances, to improve the quality of remotely-sensed data acquisition.
The inertially stabilized platform that aircraft loads has the characteristics that maneuverability, adaptable, accurate in real time, winged as aviation
The vital task equipment of machine is divided into three-axle steady platform and biaxial stabilization is flat according to the different types of structure of inertially stabilized platform
Platform, imaging sensor include SAR sensor, wide cut infrared sensor, bloom spectrum sensor, low-light (level) sensor and the face RGB
Array sensor etc., is applied primarily on three-axle steady platform, and stabilized platform compensates the attitudes vibration of aircraft, guarantees image
Sensor obtains clearly image, and additionally some imaging sensors need to carry out sweeping imaging, and three-axle steady platform needs mention
For sweeping function, increase imaging breadth.Video sensor includes rgb video sensor, shortwave video sensor, medium wave video biography
Sensor and long wave video sensor etc. are mainly used on biaxial stabilization platform, and stabilized platform drives video sensor to carry out two
Dimension rotation, meets the search, tracking and capturing function of video sensor.Not according to different types of sensor type selection design
The inertially stabilized platform of same type.
Existing two axis inertially stabilized platform or three axis inertially stabilized platforms be required to come according to the type of sensor into
Row design, without having versatility.
In view of the foregoing, it is necessary to propose a kind of three new axis inertially stabilized platforms.
Summary of the invention
The main purpose of the present invention is to provide a kind of three axis inertially stabilized platforms, it is intended to solve existing three axis or two
Axis inertially stabilized platform can only be applicable in the problem of system with certain fixed type sensors.
To achieve the above object, a kind of three axis inertially stabilized platform provided by the invention, the three axis inertially stabilized platform
Include:
Pitch axis module, including pitching frame, pitching shaft and pitch bearing；
Roll shafting component, including roll frame, roll bearing and roll shaft；
Azimuth axle component, including azimuth base, bearing and direction rotating shaft；
The pitch bearing is mounted between the pitching shaft and the roll frame, and the pitching frame is bowed with described
It faces upward and is connected between shaft by fastener；The roll bearing is mounted between the direction rotating shaft and the roll frame；Institute
Bearing is stated to be mounted between the azimuth base and direction rotating shaft；
It is equipped on the pitching frame for meeting the general with standard interface of at least two dissimilar sensors
Transition plates.
Preferably, the pitching frame and the general transition plates are split type structure.
Preferably, the positioning column accurately docked for realizing signal transmssion line is provided in the general transition plates.
Preferably, the three axis inertially stabilized platform further includes orientation torque motor, and the orientation torque motor passes through tight
Firmware is connect with the azimuth base and the direction rotating shaft.
Preferably, the three axis inertially stabilized platform further includes rolling moment motor, and the rolling moment motor is mounted on
The other end of the direction rotating shaft far from the bearing connects the roll shaft.
Preferably, the three axis inertially stabilized platform further includes pitching moment motor, and the pitching moment motor passes through tight
Firmware is connect with the pitching shaft and the roll frame.
Preferably, the three axis inertially stabilized platform further includes orientation conducting ring, and the orientation conducting ring passes through fastener
It is fastened on the direction rotating shaft, and is mounted on the direction rotating shaft central area.
Preferably, the three axis inertially stabilized platform further includes roll conducting ring, and the roll conducting ring is mounted on described
Roll frame center.
Preferably, the three axis inertially stabilized platform further includes upper cover, and the upper cover is mounted on the pitching frame.
Preferably, the upper cover and the pitching frame are split type structure.
Three axis inertially stabilized platforms of the invention, the three axis inertially stabilized platform includes: pitch axis module, including pitching
Frame, pitching shaft, pitch bearing；Roll shafting component, including roll frame, roll bearing, roll shaft；Azimuth axle group
Part, including azimuth base, bearing, direction rotating shaft；
The pitch bearing is mounted between the pitching shaft and the roll frame, and the pitching frame is bowed with described
It faces upward and is connected between shaft by fastener；The roll bearing is mounted between the direction rotating shaft and the roll frame；Institute
Bearing is stated to be mounted between the azimuth base and direction rotating shaft.
Be equipped on the pitching frame for meet dissimilar sensor have the general transition plates of standard interface.
It is real in such a way that general transition plates is installed on pitching frame using three axis inertially stabilized platforms of the invention
The exchange of existing multiple sensors, meets the versatility of multiple sensors.For rgb video sensor, shortwave video sensor, in
Wave video sensor, long wave video sensor, SAR sensor, wide cut infrared sensor, bloom spectrum sensor, low-light (level) sensing
The several scenes information acquisition apparatus such as device and RGB area array sensor, using standard interface technology and general three axis stable inertia
Platform docking, realizes plug and play.
Detailed description of the invention
Attached drawing is as a part of the invention, and for providing further understanding of the invention, of the invention is schematic
Examples and descriptions thereof are used to explain the present invention, but does not constitute an undue limitation on the present invention.Obviously, the accompanying drawings in the following description
Only some embodiments to those skilled in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings:
Fig. 1 is the cross-sectional view of three axis inertially stabilized platforms of the invention；
Fig. 2 is the cross-sectional view at another visual angle of three axis inertially stabilized platforms of the invention；
Fig. 3 is the perspective view at three another visual angles of axis inertially stabilized platform of the invention；
Fig. 4 is the cross-sectional view in the direction D-D in Fig. 3；
Fig. 5 is the cross-sectional view in the direction C-C in Fig. 3；
Fig. 6 is the perspective view of pitching frame in three axis inertially stabilized platforms of the invention.
In figure:
1- pitching shaft；2- pitch bearing；3- pitching moment motor；4- roll frame；5- upper cover；The orientation 6- torque electricity
Machine；7- bearing；8- direction rotating shaft；9- azimuth base；The orientation 10- conducting ring；11- roll bearing；12- roll conducting ring；
13- rolling moment motor；14- positioning column；15- pitching frame；The general transition plates of 16-；17- standard interface sensor.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
The technical issues of with reference to the accompanying drawing and specific embodiment is solved to the embodiment of the present invention, used technical side
Case and the technical effect of realization carry out clear, complete description.Obviously, described embodiment is only one of the application
Divide embodiment, is not whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not paying creation
Property labour under the premise of, all other equivalent or obvious variant embodiment obtained all falls within protection scope of the present invention
It is interior.The embodiment of the present invention can be embodied according to the multitude of different ways being defined and covered by claim.
It should be noted that in the following description, understanding for convenience, giving many details.But it is very bright
Aobvious, realization of the invention can be without these details.
It should be noted that in the absence of clear limitations or conflicts, each embodiment in the present invention and its
In technical characteristic can be combined with each other and form technical solution.
The present invention proposes a kind of three axis inertially stabilized platforms, it is intended to solve existing three axis or two axis inertially stabilized platforms
The problem of system with certain fixed type sensors can only be applicable in.
Referring to Figures 1 and 2, the three axis inertially stabilized platform includes: pitch axis module, including pitching frame 15, is bowed
Face upward shaft 1, pitch bearing 2；Roll shafting component, including roll frame 4, roll bearing 11, roll shaft；Azimuth axle group
Part, including azimuth base 9, bearing 7, direction rotating shaft 8.
The pitch bearing 2 is mounted between the pitching shaft 1 and the roll frame 4, the pitching frame 15 with
It is connected between the pitching shaft 1 by fastener；The roll bearing 11 is mounted on the direction rotating shaft 8 and the roll frame
Between frame 4；The bearing 7 is mounted between the azimuth base 9 and direction rotating shaft 8.
Be equipped on the pitching frame 15 for meet dissimilar sensor have the general transition plates of standard interface
16。
Using three axis inertially stabilized platforms of the invention, by the side for installing general transition plates 16 on pitching frame 15
Formula realizes the exchange of multiple sensors, meets the versatility of multiple sensors.For rgb video sensor, shortwave video sensing
Device, medium wave video sensor, long wave video sensor, SAR sensor, wide cut infrared sensor, bloom spectrum sensor, low-light (level)
The several scenes information acquisition apparatus such as sensor and RGB area array sensor, using standard interface technology and general three axis inertia
Stabilized platform docking, realizes plug and play.
Referring to Fig.1, it is docked using the standard interface sensor 17 with standard interface with general three axis inertially stabilized platform,
Different sensors are realized in the versatility of the three axis inertially stabilized platform.It should be noted that the standard interface is according to unified
Defined standard formulation.
Three axis inertially stabilized platforms use azimuth axle, roll shafting and pitching shafting composite design scheme, pitching shafting
Be compound in roll shafting, roll shafting is compound in azimuth axle, three kinds of shaftings not only can self-movement, but also complicated compound fortune can be done
It is dynamic.It realizes that multiple functions are imaged in target search, pose compensation and sweeping, takes into account two axis and three-axle steady platform major function.
Roll frame 4, pitching frame 15 and orientation frame in the present embodiment use duralumin, hard alumin ium alloy material.
The general transition plates of the embodiment of the present invention devises six kinds of interface types, and every kind of transition plates can install two kinds of biographies simultaneously
Sensor, the three axis inertially stabilized platform are suitable for 12 kinds of sensors.Wherein it should be noted that the type of transition plates can also be with
It is modified, increases through interface type as needed, more sensors is facilitated to be applicable in.
Further, the pitching frame 15 and the general transition plates 16 are split type structure.By general transition plates 16
It is designed as split type structure with pitching frame 15, realizes that sensor is separated with three axis inertially stabilized platforms, realizes various sensors
It can be with stabilized platform partial installation.
In addition, being provided with the positioning column 14 accurately docked for realizing signal transmssion line in the general transition plates 16.
In another embodiment, the three axis inertially stabilized platform further includes pitching moment motor 3, the pitching moment electricity
Machine 3 is connect by fastener with the azimuth base 9 and the direction rotating shaft 8.The three axis inertially stabilized platform further includes cross
Torque motor 13 is rolled, the rolling moment motor 13 is mounted on the other end of the direction rotating shaft 8 far from the bearing 7,
Connect the roll shaft.The three axis inertially stabilized platform further includes orientation torque motor 6, and the orientation torque motor 6 is logical
Fastener is crossed to connect with the pitching shaft 1 and the roll frame 4.In the present embodiment, using 6 side of driving of orientation torque motor
Position shaft 8 rotates, and rolling moment motor 13 drives the rotation of roll shaft, and pitching moment motor 3 drives pitching shaft 1 to rotate, real
Existing sensor can be rotated around three rotating shaft polarizers of big angle scope.
In another preferred embodiment, the three axis inertially stabilized platform further includes orientation conducting ring 10, and the orientation is led
Electric ring 10 is fastened on the direction rotating shaft 8 by fastener, and is mounted on 8 central area of direction rotating shaft.
Further, the three axis inertially stabilized platform further includes roll conducting ring 12, and the roll conducting ring 12 is installed
At 4 center of roll frame.By the center installation position conducting ring 10 in direction rotating shaft 8, and in roll frame 4
Roll conducting ring 12 is installed at center, and the N × 360 ° rotation of direction rotating shaft 8 and roll shaft is realized with this.
In addition, it should be noted that, the direction rotating shaft 8 in the embodiment of the present invention is designed using cantilever design, by roll power
The integrated insertion direction rotating shaft such as torque motor, bearing and position coder realizes -45 °~135 ° big corner ranges, improves to stablize and put down
The ability of platform adaptation different sensors.
In another embodiment, the three axis inertially stabilized platform further includes upper cover 5, and the upper cover 5 is mounted on described bow
It faces upward on frame 15.And the upper cover 5 and the pitching frame 15 are split type structure.Upper cover 5 and the pitching frame 15 are set
It is calculated as split type structure, realizes that sensor is separated with three axis inertially stabilized platforms, realizes that various sensors can be with stabilized platform point
Body installation.Wherein, the upper cover 5 is equally split type structure with the general transition plates 16 being mounted on the pitching frame 15.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of three axis inertially stabilized platforms, which is characterized in that the three axis inertially stabilized platform includes:
Pitch axis module, including pitching frame, pitching shaft and pitch bearing；
Roll shafting component, including roll frame, roll bearing and roll shaft；
Azimuth axle component, including azimuth base, bearing and direction rotating shaft；
The pitch bearing is mounted between the pitching shaft and the roll frame, and the pitching frame and the pitching turn
It is connected between axis by fastener；The roll bearing is mounted between the direction rotating shaft and the roll frame；The side
Position bearing is mounted between the azimuth base and direction rotating shaft；
The general mistake with standard interface for meeting at least two dissimilar sensors is installed on the pitching frame
Cab apron.
2. three axis inertially stabilized platform according to claim 1, which is characterized in that the pitching frame and the general mistake
Cab apron is split type structure.
3. three axis inertially stabilized platform according to claim 1, which is characterized in that be arranged in the general transition plates useful
In the positioning column accurately docked for realizing signal transmssion line.
4. three axis inertially stabilized platform according to claim 1, which is characterized in that the three axis inertially stabilized platform is also wrapped
Orientation torque motor is included, the orientation torque motor is connect by fastener with the azimuth base and the direction rotating shaft.
5. three axis inertially stabilized platform according to claim 1, which is characterized in that the three axis inertially stabilized platform is also wrapped
Rolling moment motor is included, the rolling moment motor is mounted on the one end of the direction rotating shaft far from the bearing, connection
The roll shaft.
6. three axis inertially stabilized platform according to claim 1, which is characterized in that the three axis inertially stabilized platform is also wrapped
Pitching moment motor is included, the pitching moment motor is connect by fastener with the pitching shaft and the roll frame.
7. described in any item three axis inertially stabilized platforms according to claim 1~6, which is characterized in that the three axis inertia is steady
Fixed platform further includes orientation conducting ring, and the orientation conducting ring is fastened on the direction rotating shaft by fastener, and is mounted on
The direction rotating shaft central area.
8. described in any item three axis inertially stabilized platforms according to claim 1~6, which is characterized in that the three axis inertia is steady
Fixed platform further includes roll conducting ring, and the roll conducting ring is mounted on the roll frame center.
9. described in any item three axis inertially stabilized platforms according to claim 1~6, which is characterized in that the three axis inertia is steady
Fixed platform further includes upper cover, and the upper cover is mounted on the pitching frame.
10. three axis inertially stabilized platform according to claim 9, which is characterized in that the upper cover and the pitching frame
For split type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910020819.7A CN109708635A (en) | 2019-01-09 | 2019-01-09 | A kind of three axis inertially stabilized platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910020819.7A CN109708635A (en) | 2019-01-09 | 2019-01-09 | A kind of three axis inertially stabilized platforms |
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| Publication Number | Publication Date |
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| CN109708635A true CN109708635A (en) | 2019-05-03 |
Family
ID=66260984
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| CN201910020819.7A Pending CN109708635A (en) | 2019-01-09 | 2019-01-09 | A kind of three axis inertially stabilized platforms |
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Cited By (5)
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| CN110661078A (en) * | 2019-08-25 | 2020-01-07 | 武汉华中天经通视科技有限公司 | Vehicle-ground high-speed laser communication device |
| CN110825033A (en) * | 2019-11-15 | 2020-02-21 | 中国科学院长春光学精密机械与物理研究所 | Servo control system |
| CN112162284A (en) * | 2020-08-31 | 2021-01-01 | 河北汉光重工有限责任公司 | Triaxial keeps away and bumps photoelectric device |
| CN112758338A (en) * | 2021-01-20 | 2021-05-07 | 西安应用光学研究所 | Integrated-structure microminiature photoelectric pod |
| CN115923993A (en) * | 2023-01-16 | 2023-04-07 | 上海欧萨数据技术有限公司 | Unmanned ship video target searching and image stabilizing device |
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| CN115923993A (en) * | 2023-01-16 | 2023-04-07 | 上海欧萨数据技术有限公司 | Unmanned ship video target searching and image stabilizing device |
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