CN110260115A - A kind of integrated microminiature general holder - Google Patents
A kind of integrated microminiature general holder Download PDFInfo
- Publication number
- CN110260115A CN110260115A CN201910499030.4A CN201910499030A CN110260115A CN 110260115 A CN110260115 A CN 110260115A CN 201910499030 A CN201910499030 A CN 201910499030A CN 110260115 A CN110260115 A CN 110260115A
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- adjusting screw
- support
- adjusting bolt
- servo
- vertical shaft
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000009434 installation Methods 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 125000006850 spacer group Chemical group 0.000 claims description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 3
- 238000007514 turning Methods 0.000 claims description 2
- 210000005069 ears Anatomy 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 238000000280 densification Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The present invention provides a kind of integrated microminiature general holder, and it is integrated to can be realized pitching transmission precision, structure formed, densification, lightweight, the generalization of mounting means and working depth.The general holder includes: luffing mechanism, carriage assembly, support component, electric component and shield.Wherein pitching transmission is driven using miniature servo-electric push rod, it is driven inside electric pushrod using ball screw assembly, it can be realized precision pitching transmission, height and movement pitching had both may be implemented in ball screw assembly, stretching motion, while its rigidity is good, with self-locking function, can at an arbitrary position stop motion when, balancedunbalanced torque, keep dynamic balance.The platform upper reserves the general installation interfaces of various mission payloads simultaneously, lower part it is reserved can Fast Installation in the installation interface on various unmanned platforms.
Description
Technical field
The present invention relates to a kind of unmanned platforms, and in particular to a kind of integrated microminiature general holder belongs to intelligent nothing
People's platform technology field.
Background technique
The holder of narrow sense is primarily referred to as the support equipment of installation, fixed video camera (camera), to realize camera lens
Revolution and vertical direction pitching movement in the horizontal direction.The holder of broad sense, refer to installation, fixed big machinery electronic equipment or
The bogey or mechanism of destruction weapon (hereafter referred to collectively as mission payload).The device is widely used in military and civilian neck
Domain.
In military domain, cannon/Tank and Armoured Vehicle top gun turret system, various weapon station, guided missile launcher, light
The two degree-of-freedom motion principle of holder is widely used in the weapons such as electric tracing equipment, radar surveillance equipment, aircraft gun, warship canon, to meet
To the demand of pitching, rotary motion when weapon aiming target.
In civil field, engineering machinery (such as truck crane, ship hang, excavator), safety monitoring equipment, television relay equipment
Deng holder working principle is also widely used and realizes various functions.
In the prior art, holder is made of luffing mechanism, swing mechanism and its electric controling part.Wherein luffing mechanism is pacified
Various mission payloads are filled, realize pitching movement and rotary motion by the conventional mechanical transmissions such as worm gear, worm screw or gear, sector.
Mission payload is installed on pitching frame body, turns round and pitching movement mechanism and various electric components is installed on frame body.Frame body is turned round simultaneously
It as the load carrier of total weight, is attached with mobility platforms such as car bodies by turntable bearing, to realize that revolution is slowed down
Mechanism drives the function of entire top mission payload progress rotary motion.
Luffing mechanism is mostly gear, sector transmission mechanism or turbine and worm decelerator in the prior art.Swing mechanism
Multi-pass is crossed turntable bearing and is connect with mobility platform, by rotary reducer driving bearing gear ring movement, and then drives top task
Load carries out rotary motion.
Existing cradle head device there are problems that following general character or defect/:
(1) the height luffing mechanism of holder uses traditional gear sector or turbine and worm decelerator, though biography can be met
Dynamic demand, but conventional gears retarder is big by foozle, installation error bring transmission backlash amount, transmission accuracy is poor, shadow
Ring the fire accuracy of weapon generic task load；
(2) holder is to meet the needs of wide-angle pitching movement, and the mission payload of luffing mechanism is mostly arranged off-centre, is caused
When pitching movement, larger unbalanced moments is generated, needs to install additional spring or vapour-pressure type balancing machine (moment compensator) to reduce
Unbalanced moments makes pitching movement stable drive while reducing pitching movement power of motor.The problem of bringing is that structure is multiple
It is miscellaneous, increase weight；
(3) holder itself poor universality, a kind of platform, a kind of cradle head device especially divide with car body connecting portion, interface ruler
It is very little not of uniform size, configurations；
(4) the pitching frame body of holder installation mission payload, functionalization is single, substantially exclusive production, i.e., a kind of load one
Kind frame body.When the other mission payloads of pitching erection of frames, interchangeability, poor universality or do not have interchangeability substantially；
(5) each mechanism of holder or device are on the basis of meeting the quiet carrying of mission payload, dynamic carrying, lightweight, densification
Design is insufficient, causes holder weight, volume larger, design margin is big.
Summary of the invention
In view of this, the present invention provides a kind of integrated microminiature general holder, pitching transmission precision, knot can be realized
Structure micromation, densification, lightweight, the generalization of mounting means and working depth are integrated.
The integrated microminiature general holder includes: luffing mechanism, carriage assembly, support component and electric component；
The luffing mechanism includes: load support, reel cage and upper trunnion；The load support is mounted on above reel cage, is used
In carrying mission payload；The reel cage is internally provided with two parallel upper trunnions, for connecting with carriage assembly；
The carriage assembly includes: bracket body and servo-electric push rod；The top of the bracket body and servo electricity
The end of dynamic push rod telescopic end passes through trunnion hole respectively and connect with two upper trunnions in luffing mechanism；The servo-electric push rod
The axis of upper trunnion for pushing the luffing mechanism to be connected around it with bracket body rotates；The bottom of the servo-electric push rod
Portion is connected with the bracket body；
The support component includes: pedestal, vertical shaft, vertical shaft seat and rotary planetary retarder；The vertical shaft passes through bearing branch
On vertical shaft seat, the vertical shaft seat is mounted on the base for support；The bracket body and the vertical shaft are affixed；The revolution row
The power output end of star retarder is connected with the vertical shaft, for driving vertical shaft and the component being connected with vertical shaft to carry out revolution fortune
It is dynamic；
The electric component includes two motor drivers, master control circuit board and the power supply being mounted on the base
Battery；Two motor drivers are respectively used to servo motor in servo-electric push rod and turn servo motor in planetary reduction gear
Drive control；Write-in and operation of the master control circuit board for two motor driver control programs；The supplying cell
For servo motor, servo motor, two motor drivers and master control in rotary planetary retarder into servo-electric push rod
Circuit board power supply processed.
The load support includes: guide rail installation frame, preceding support and rear support；It is provided on the T-rail mounting rack
Guide rail is respectively arranged with the preceding support being slidably matched with the guide rail at the both ends of the guide rail installation frame upper rail glide direction
And rear support；The preceding support and rear support provide the installation interface of the mission payload.
The installation interface for installing sight device is provided on the reel cage.
The load support further includes front support mechanism and rear support regulating mechanism, the rear and front end of the guide rail installation frame
It is connected respectively by front support mechanism and rear support regulating mechanism with the reel cage；The rear support regulating mechanism is able to drive institute
State guide rail installation frame rear end carry out up and down, move left and right, with adjust on the guide rail installation frame axis of mission payload with it is described
Sight device axis parallel degree.
The front support mechanism includes front support seat, and the front end of the guide rail installation frame passes through pin shaft and front support seat pin
It connects, the axis of pin shaft is parallel with the upper trunnion axis；The connecting shaft of front support seat bottom passes vertically through reel cage front end
It is limited after connecting hole by nut, realizes the connection of the front support seat and reel cage；
The rear support regulating mechanism includes: up and down adjustment component and left and right adjusting component；The up and down adjustment component packet
It includes: lower Adjusting bolt Adjusting screw, upper Adjusting bolt Adjusting screw and up and down adjustment screw rod；The left and right adjusting component includes: left Adjusting bolt Adjusting screw, right adjusting
Swivel nut and left and right adjusting screw rod；The up and down adjustment component is vertically arranged, and the setting of left and right adjusting component level forms cross knot
Structure；Wherein up and down adjustment screw rod upper end is connected with the rear end of guide rail installation frame, and lower end is set with Adjusting bolt Adjusting screw under
Adjusting bolt Adjusting screw forms screw pair with the up and down adjustment screw rod；
The left and right adjusting screw rod includes the sleeve being vertically arranged and the spiral shell for being separately positioned on the excircle of sleeve week left and right sides
Bar, enabling the screw rod of the left and right sides is respectively left adjusting screw rod and right adjusting screw rod；Upper adjusting spiral shell in the up and down adjustment component
Set and lower Adjusting bolt Adjusting screw coaxial package are set with left Adjusting bolt Adjusting screw in the sleeve inner, the left adjusting screw rod, form lead screw
Pair of nut, left Adjusting bolt Adjusting screw carry out axial limiting by nut seat；It is set with right Adjusting bolt Adjusting screw on the right adjusting screw rod, is formed
Screw pair, the right Adjusting bolt Adjusting screw carry out axial limiting by nut seat.
The two opposite sides of the bracket body are respectively arranged with slewing limiter；Two on the vertical shaft seat outer circumference surface
Setting position is equipped with cushion, and the cushion is returned as the limited block cooperated with slewing limiter for the holder
The limit of gyration.
The slewing limiter includes: spacer pin, outer sleeve, spring, positioning pin and pull ring；The spacer pin coaxial package
In outer sleeve inner, outer sleeve is stretched out at both ends, and one end end is provided with pull ring；In the spacer pin being located inside outer sleeve
It is set with spring outside, the both ends of the spring contradict the annular step surface inside the shaft shoulder and outer sleeve on spacer pin respectively
On, when pulling spacer pin by pull ring, compress the spring；Axially adding on the end face at end along it where pull ring on outer sleeve
Work has strip groove, and the positioning pin to be connected on spacer pin provides movable passageway, the axis of the positioning pin and the axis of spacer pin
Line is vertical；When the slewing limiter is in limit state, the positioning pin is located in strip groove, supports with the slot bottom of strip groove
Touching；When the slewing limiter is in non-limit state, the positioning pin is supported with the end face at end where the outer sleeve pull ring
Touching, the spring are in compressive state.
The utility model has the advantages that
(1) platform pitching transmission is driven using miniature servo-electric push rod, and ball screw assembly, is used inside electric pushrod
It is driven, can be realized precision pitching transmission, height and movement pitching had both may be implemented, together in ball screw assembly, stretching motion
When its rigidity it is good, have self-locking function, can at an arbitrary position stop motion when, balancedunbalanced torque, keep dynamic balance.
(2) the structure formed of the platform, densification, lightweight (reducing redundant component, such as moment compensator)；
(3) generalization of mounting means: the general installation interface of various mission payloads is reserved on top, and lower part is reserved can be fast
Speed is installed on the installation interface on various unmanned platforms.
(4) electric component is integrated on holder, does not depend on car body platform power, working depth is integrated, is autonomy-oriented
Using laying the foundation.
Detailed description of the invention
Fig. 1 and Fig. 2 is the overall structure diagram of general-purpose platform of the invention；
Fig. 3 is the structural schematic diagram of the luffing mechanism of general-purpose platform of the invention；
Fig. 4 is the structural schematic diagram of load support；
Fig. 5 is the structural schematic diagram of rear support regulating mechanism；
Fig. 6 is the structural schematic diagram of carriage assembly；
Fig. 7 is the structural schematic diagram of slewing limiter；
Fig. 8 is the structural schematic diagram of support component；
Fig. 9 is the structural schematic diagram of electric component；
Figure 10 is the structural schematic diagram of shield.
Wherein: support before 1- luffing mechanism, 1-1 load support, 1-1-1 guide rail installation frame, 1-1-2,1-1-3 rear support,
Adjusting bolt Adjusting screw, the upper Adjusting bolt Adjusting screw of 1-1-7, the left tune of 1-1-8 under 1-1-4 front support mechanism, 1-1-5 rear support regulating mechanism, 1-1-6
Save swivel nut, the right Adjusting bolt Adjusting screw of 1-1-9,1-2 reel cage, the upper trunnion of 1-3,1-4 trunnion baffle, 2- carriage assembly, 2-1 bracket body,
Trunnion, 2-4 slewing limiter, 2-4-1 spacer pin, 2-4-2 outer sleeve, 2-4-3 spring, 2- under 2-2 servo-electric push rod, 2-3
4-4 positioning pin, 2-4-5 pull ring, 3- support component, 3-1 pedestal, 3-2 vertical shaft, 3-3 vertical shaft seat, 3-4 rotary planetary retarder, 3-
It is protected before 5 cushions, 4- electric component, 4-1 motor driver, 4-2 master control circuit board, 4-3 supplying cell, 5- shield, 5-1
Cover, 5-2 rear shield, 6- mission payload, 7- gun sight
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of integrated microminiature general holder, which has generalization, densification, integrated etc.
Feature, and the high-precision motion that mission payload carries out pitching, turns round two freedom degrees can be assigned, meet desired fire accuracy
Or the task index such as pointing accuracy.
As depicted in figs. 1 and 2, which includes: luffing mechanism 1, carriage assembly 2, support component 3, electric component 4
With shield 5.
As shown in figure 3, luffing mechanism 1 includes: load support 1-1, reel cage 1-2 and upper trunnion 1-3；Wherein load support 1-
1 is mounted on above reel cage 1-2, for carrying mission payload 6.Reel cage 1-2 is rectangular frame structure, and one side external surface reserves skin
Ka Dingni interface, for installing gun sight 7 or camera etc..The lower portion of reel cage 1-2 is provided with two parallel upper trunnions
1-3, for being connected with carriage assembly 2.The both ends of upper trunnion 1-3 carry out axial limiting by trunnion baffle 1-4, avoid trunnion
The axial float of 1-3.Specifically, the structure of load support 1-1 is as shown in figure 4, include guide rail installation frame 1-1-1, preceding support 1-
1-2, rear support 1-1-3, front support mechanism 1-1-4 and rear support regulating mechanism 1-1-5.T is provided on guide rail installation frame 1-1-1
Shape guide rail, support 1-1-2 and rear support before the both ends of T-rail glide direction are respectively arranged on guide rail installation frame 1-1-1
1-1-3, preceding support 1-1-2 and rear support 1-1-3 install fulcrum as former and later two, and top is by the hinged mode of pin shaft and appoints
Load 6 of being engaged in is connected, and it is simple and reliable to ensure that mission payload 6 installs connection size to the full extent in this way.Support 1-1-2 before simultaneously
The T-slot processed with rear support 1-1-3 by its lower surface is slidably matched with the T-rail on guide rail installation frame 1-1-1, so that
Preceding support 1-1-2 and rear support 1-1-3 can be slided along T-rail, to adapt to the size of different task load 6.
The bottom guide rail installation frame 1-1-1 rear and front end is respectively arranged with front support mechanism 1-1-4 and rear support regulating mechanism
1-1-5, guide rail installation frame 1-1-1 pass through front support mechanism 1-1-4 and rear support regulating mechanism 1-1-5 and reel cage 1-2 respectively and connect
It connects, wherein can be realized the rear end guide rail installation frame 1-1-1 or more by rear support regulating mechanism 1-1-5, moving left and right.Specifically
Are as follows: front support mechanism 1-1-4 includes front support seat, and the front end of guide rail installation frame 1-1-1 passes through the top of pin shaft and front support seat
Pin joint, the axis of pin shaft are parallel with upper trunnion 1-3 axis；The connecting shaft of front support seat bottom passes through the front end reel cage 1-2 simultaneously
Axial limiting is carried out by nut after connecting hole, realizes the connection of front support seat and reel cage 1-2；The connecting shaft axially along vertical
Direction.
As shown in figure 5, rear support regulating mechanism 1-1-5 includes: up and down adjustment component and left and right adjusting component；Up and down adjustment
Component is vertically arranged, and the setting of left and right adjusting component level forms cross-shaped configuration.Wherein up and down adjustment component includes: lower adjusting
Swivel nut 1-1-6, upper Adjusting bolt Adjusting screw 1-1-7 and up and down adjustment screw rod 1-1-10；Left and right adjusting component includes: left Adjusting bolt Adjusting screw 1-1-
8, right Adjusting bolt Adjusting screw 1-1-9 and left and right adjusting screw rod 1-1-11.Wherein up and down adjustment screw rod upper end is with guide rail installation frame 1-1-1's
Rear end is connected, and lower end is set with Adjusting bolt Adjusting screw 1-1-7 and lower Adjusting bolt Adjusting screw 1-1-6, with up and down adjustment screw rod 1-1-10 shape
At screw pair.
Left and right adjusting screw rod 1-1-11 includes the sleeve being vertically arranged and is separately positioned at left and right sides of excircle of sleeve week
Horizontal screw bolt, enabling the screw rod of the left and right sides is respectively left adjusting screw rod and right adjusting screw rod, left adjusting screw rod and right adjusting screw rod
Axis it is vertical with the axis of sleeve.Upper Adjusting bolt Adjusting screw 1-1-7 and lower adjusting of the sleeve coaxial package in up and down adjustment component
Outside swivel nut 1-1-6, and axial limiting is carried out to upper Adjusting bolt Adjusting screw 1-1-7 and lower Adjusting bolt Adjusting screw 1-1-6 by sleeve.Work as needs
When carrying out moving up fine tuning, lower Adjusting bolt Adjusting screw 1-1-6 is unclamped, Adjusting bolt Adjusting screw 1-1-7 is tightened, tightens Adjusting bolt Adjusting screw 1-1-7 mistake
The relatively upper Adjusting bolt Adjusting screw 1-1-7 of Cheng Zhong, up and down adjustment screw rod 1-1-10 is moved up, and is led by upper Adjusting bolt Adjusting screw 1-1-7 drive
The rear end of rail mounting rack 1-1-1 moves up；Similarly, when carrying out moving down fine tuning, Adjusting bolt Adjusting screw 1-1-7 is (at this time in release
Lower adjusting screw rod 1-1-10 can also be moved down under gravity), lower Adjusting bolt Adjusting screw 1-1-6 is tightened, lower Adjusting bolt Adjusting screw 1- is tightened
During 1-6, up and down adjustment screw rod 1-1-10 descends Adjusting bolt Adjusting screw 1-1-6 to move down relatively, passes through lower Adjusting bolt Adjusting screw 1-1-6 band
The rear end of dynamic guide rail installation frame 1-1-1 moves down.When the fine tuning that the rear end of guide rail installation frame 1-1-1 is moved up or moved down, guide rail
The whole pin shaft around front support seat front end of mounting rack 1-1-1 rotates, and realizes the fine tuning of guide rail installation frame 1-1-1 pitch angle.
It is set with left Adjusting bolt Adjusting screw 1-1-8 on left adjusting screw rod, forms screw pair, left Adjusting bolt Adjusting screw 1-1-8 passes through
Nut seat carries out axial limiting；It is set with right Adjusting bolt Adjusting screw 1-1-9 on right adjusting screw rod, forms screw pair, right adjusting spiral shell
It covers 1-1-9 and axial limiting is carried out by nut seat.When carrying out moving to left fine tuning, right Adjusting bolt Adjusting screw 1-1-9 is unclamped, a left side is tightened
Adjusting bolt Adjusting screw 1-1-8, during tightening left Adjusting bolt Adjusting screw 1-1-8, the relatively left Adjusting bolt Adjusting screw 1-1-8 of left and right adjusting screw rod 1-1-11
It is moved to the left, drives the rear end of guide rail installation frame 1-1-1 to move to left by left and right adjusting screw rod 1-1-11；Similarly, when needing to carry out
When moving to right fine tuning, left Adjusting bolt Adjusting screw 1-1-8 is unclamped, tightens right Adjusting bolt Adjusting screw 1-1-9, the relatively right tune of left and right adjusting screw rod 1-1-11
Section swivel nut 1-1-9 moves right, and drives the rear end of guide rail installation frame 1-1-1 to move to right by left and right adjusting screw rod 1-1-11.Guide rail
When the fine tuning that the rear end of mounting rack 1-1-1 is moved to left or moved to right, the whole company around front support seat bottom of guide rail installation frame 1-1-1
Spindle rotation, realizes the fine tuning of guide rail installation frame 1-1-1 gyratory directions.
After mission payload 6 is installed on luffing mechanism 1, due to the machining error of objective reality, holder is taken
The axis of the firing axis and the gun sight 7 being fixed on reel cage 1-2 of the mission payload 6 (especially small arms) of load is not parallel,
Four swivel nuts on rear support regulating mechanism 1-1-5 can be used at this time, pitching and gyratory directions are carried out to guide rail installation frame 1-1-1
Fine tuning so that the axis of the mission payloads such as weapon carried is parallel with 7 axis of gun sight, and then raising fire accuracy.
As shown in fig. 6, carriage assembly is that monaural shaft type lifts frame structure, comprising: bracket body 2-1, miniature servo electricity
Dynamic push rod 2-2, lower trunnion 2-3 and slewing limiter 2-4.The top of bracket body 2-1 and miniature servo-electric push rod 2-2 stretch
The end at contracting end is separately provided for the trunnion hole with two upper trunnion 1-3 cooperations in luffing mechanism 1, bracket body 2-1
It is connect respectively with two upper trunnion 1-3 in luffing mechanism 1 with the telescopic end of miniature servo-electric push rod 2-2 by trunnion hole.
The fixing end of miniature servo-electric push rod 2-2 is connected by lower trunnion 2-3 with bracket body 2-1.It is pushed away by miniature servo-electric
The stretching motion of bar 2-2 pushes luffing mechanism 1 to rotate around the axis of its upper trunnion being connected with bracket body 2-1, realizes pitching
The pitching movement of mechanism 1 realizes holder one degree of freedom function.Wherein miniature servo-electric push rod 2-2 is ball wire
Rod-type drives luffing mechanism 1 to make pitching movement, the ball-screw of servo-electric push rod 2-2 by ball screw assembly, stretching motion
Countershaft is 0.02mm to drive gap, compares worm and gear or gear sector space CCD camera in 1~4 dense bit, most by mission payload
Front end is that 100mm converts with pitching trunnion hole distance, and drive gap is about 0.1~0.4mm.This programme can be by transmission accuracy
Improve 5~20 times.
The bottom bracket body 2-1 is reserved with vertical shaft seat installation interface, for connecting with the vertical shaft of support component 3.Exist simultaneously
One slewing limiter 2-4 of each side installation of bracket body 2-1.The structure of slewing limiter 2-4 is as shown in fig. 7, packet
It includes: spacer pin 2-4-1, outer sleeve 2-4-2, spring 2-4-3, positioning pin 2-4-4 and pull ring 2-4-5.Spacer pin 2-4-1 coaxial sleeve
Inside outer sleeve 2-4-2, outer sleeve 2-4-2 is stretched out at both ends, and one end end is provided with pull ring 2-4-5；Spacer pin
It is provided with the shaft shoulder in the middle part of 2-4-1, is set with spring 2-4-3, spring outside the spacer pin 2-4-1 being located inside outer sleeve 2-4-2
Both ends contradicted in the annular step surface inside the shaft shoulder and outer sleeve 2-4-2 of spacer pin 2-4-1 respectively, when passing through pull ring
When 2-4-5 pulls out spacer pin 2-4-1, compressed spring 2-4-3.In the end face at end where pull ring 2-4-5 on outer sleeve 2-4-2
On along its axial direction be machined with strip groove, the movement of the positioning pin 2-4-4 for being connected on spacer pin 2-4-1, positioning pin 2-4-4
Axis it is vertical with the axis of spacer pin 2-4-1.When slewing limiter 2-4 is in limit state, positioning pin 2-4-4 is located at bar shaped
In slot, contradicted with the slot bottom of strip groove；When pulling out spacer pin 2-4-1 by pull ring 2-4-5, positioning pin 2-4-4 is along bar shaped
End is mobile where slot to pull ring 2-4-5, and when positioning pin 2-4-4 moves out outer sleeve 2-4-2, spacer pin 2-4-1 is rotated
90 °, keep the conflict of positioning pin 2-4-4 and the end face outer sleeve 2-4-2 (or vertical with strip groove positioned at the end face outer sleeve 2-4-2
In groove), slewing limiter 2-4 can be made to be in and free state.When needing to restore slewing limiter 2-4 to limit state
When, only spacer pin 2-4-1 need to be inverted 90 °, keep positioning pin 2-4-4 corresponding with the bar shaped groove location on outer sleeve 2-4-2, limit
Pin 2-4-1 can stretch out under the action of spring 2-4-3 restoring force.
The structure of support component 3 is as shown in Figure 8, comprising: pedestal 3-1, vertical shaft 3-2, vertical shaft seat 3-3, rotary planetary slow down
Device 3-4 and cushion 3-5；Pedestal 3-1 be taper type structure, including upper plate, lower plate and for connect upper plate and under
Multiple support rods of bottom plate.For vertical shaft 3-2 through bearing support on vertical shaft seat 3-3, vertical shaft seat 3-3 is mounted on the upper of pedestal 3-1
On bottom plate；Bracket body 2-1 installs interface by the vertical shaft seat of its bottom and vertical shaft 3-2 carries out flange form connection；Rotary planetary
The power output end of retarder 3-4 is connected with vertical shaft 3-2, drives vertical shaft 3-2 and carries out revolution fortune with the vertical shaft 3-2 component being connected
It is dynamic；Rotary planetary retarder 3-4 carries out flange form connection by screw and the lower part vertical shaft seat 3-3.The vertical shaft 3-2 of support component,
Rotary planetary retarder 3-4 and luffing mechanism, carriage assembly collectively constitute the rotating part of holder, in rotary planetary retarder 3-
Under 4 drive, movement may be spinning, realize second freedom degree function of cradle head device.
There are two cushion 3-5 (as the limit cooperated with slewing limiter 2-4 for installation on vertical shaft seat 3-3 outer circumference surface
Block), the position cushion 3-5 is ± 90 ° of danger circle position of setting, circumference where vertical shaft seat 3-3 excircle cushion 3-5
Face and the position slewing limiter 2-4 are on same periphery.Before rotating part work, slewing limiter 2-4 is in limit
State, when rotating part returns back to ± 90 ° of danger circle of setting, spacer pin 2-4-1 and cushion 3-5 are hit, to rotating part
Divide and limited, ensure that rotating part trouble free service.When rotating part stops working, slewing limiter 2-4 can be extracted outward
Spacer pin 2-4-1, slewing limiter 2-4 be in frees state, spacer pin will not be hit with cushion 3-5, and rotating part can
Carry out ± 180 ° of revolutions.
There are the installation spaces and interface of electric component 4 and shield 5 on the lower plate of pedestal 3-1, so that the holder is upper
All parts in portion and lower part, component and electrical component carry out comprehensive integration installation by pedestal 3-1.The lower plate of pedestal 3-1 is
Bolt can be used in circular mounting disk, carries out flange form connection with the car body of unmanned motor platform.Circular mounting flange structure letter
Single, size interface is unified, convenient for carrying out Fast Installation with various platforms or vehicle, realizes that " a kind of holder, a variety of load are more
The generalization of kind platform ", exchangeization mode.
As shown in figure 9, electric component 4 includes: two motor driver 4-1, master control circuit board 4-2 and supplying cell
4-3；Two of them motor driver 4-1 is fixed on the lower plate of pedestal 3-1 by its mounting base, and control servo is respectively used to
Servo motor in electric pushrod 2-2 and revolving speed and the position for turning servo motor in planetary reduction gear；Master control circuit board
4-2 is fixed on the lower plate of pedestal 3-1 by its mounting base, for two motor driver 4-1 control program write-in and
Operation；Supplying cell 4-3 is fixed on the lower plate of pedestal 3-1 by its mounting base, for watching into servo-electric push rod 2-2
Take motor, servo motor, two motor driver 4-1 and master control circuit board 4-2 power supply in rotary planetary retarder 3-4.
As shown in Figure 10, shield 5 is the tetragonal body structure by being formed after front protection cover 5-1 and rear shield 5-2 docking, is mounted on
On the pedestal 3-1 of support component, electric component 4 is located in shield 5, and the component and line of electric component 4 are protected by shield 5
Cable.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of integrated microminiature general holder characterized by comprising luffing mechanism (1), carriage assembly (2), support group
Part (3) and electric component (4)；
The luffing mechanism (1) includes: load support (1-1), reel cage (1-2) and upper trunnion (1-3)；Load support (the 1-
1) it is mounted on above reel cage (1-2), for carrying mission payload (6)；The reel cage (1-2) be internally provided with two it is parallel upper
Trunnion (1-3), for being connected with carriage assembly (2)；
The carriage assembly (2) includes: bracket body (2-1) and servo-electric push rod (2-2)；The bracket body (2-1)
Top and the end of servo-electric push rod (2-2) telescopic end pass through two upper ears in trunnion hole and luffing mechanism (1) respectively
Axis (1-3) connection；The servo-electric push rod (2-2) is for pushing the luffing mechanism (1) around itself and bracket body (2-1) phase
The axis rotation of upper trunnion (1-3) even；The bottom of the servo-electric push rod (2-2) is connected with the bracket body (2-1)；
The support component (3) includes: pedestal (3-1), vertical shaft (3-2), vertical shaft seat (3-3) and rotary planetary retarder (3-4)；
For the vertical shaft (3-2) through bearing support on vertical shaft seat (3-3), the vertical shaft seat (3-3) is mounted on the pedestal (3-1)
On；The bracket body (2-1) and the vertical shaft (3-2) are affixed；The power output end of the rotary planetary retarder (3-4) with
The vertical shaft (3-2) is connected, for driving vertical shaft (3-2) and carrying out rotary motion with the connected component of vertical shaft (3-2)；
The electric component (4) includes two motor drivers (4-1), main control circuits being mounted on the pedestal (3-1)
Plate (4-2) and supplying cell (4-3)；Two motor drivers (4-1) are respectively used to servo electricity in servo-electric push rod (2-2)
Machine and the drive control for turning servo motor in planetary reduction gear；The master control circuit board (4-2) is used for two motor drivens
The write-in and operation of device (4-1) control program；The supplying cell (4-3) is used for the servo electricity in servo-electric push rod (2-2)
Servo motor, two motor drivers (4-1) and master control circuit board (4-2) supply in machine, rotary planetary retarder (3-4)
Electricity.
2. integrated microminiature general holder as described in claim 1, which is characterized in that the load support (1-1) includes:
Guide rail installation frame (1-1-1), preceding support (1-1-2) and rear support (1-1-3)；It is arranged on the T-rail mounting rack (1-1-1)
There is guide rail, is respectively arranged at the both ends of the guide rail installation frame (1-1-1) upper rail glide direction and matches with guide rail sliding
The preceding support (1-1-2) and rear support (1-1-3) closed；The preceding support (1-1-2) and rear support (1-1-3) provide the task
The installation interface of load (6).
3. integrated microminiature general holder as claimed in claim 1 or 2, which is characterized in that be arranged on the reel cage (1-2)
There is the installation interface for installing sight device.
4. integrated microminiature general holder as claimed in claim 3, which is characterized in that the load support (1-1) is also wrapped
Include front support mechanism (1-1-4) and rear support regulating mechanism (1-1-5), the rear and front end point of the guide rail installation frame (1-1-1)
Not Tong Guo front support mechanism (1-1-4) and rear support regulating mechanism (1-1-5) be connected with the reel cage (1-2)；The rear support
Regulating mechanism (1-1-5) is able to drive the guide rail installation frame rear end (1-1-1) progress or more, moves left and right, described in adjusting
The axis of mission payload (6) and the sight device axis parallel degree on guide rail installation frame (1-1-1).
5. integrated microminiature general holder as claimed in claim 4, which is characterized in that the front support mechanism (1-1-4)
Including front support seat, the front end of the guide rail installation frame (1-1-1) is connect by pin shaft and front support seat pin, the axis of pin shaft and institute
It is parallel to state trunnion (1-3) axis；After the connecting shaft of front support seat bottom passes vertically through the connecting hole of the front end reel cage (1-2)
Axial limiting is carried out by nut；
The rear support regulating mechanism (1-1-5) includes: up and down adjustment component and left and right adjusting component；The up and down adjustment component
It include: lower Adjusting bolt Adjusting screw (1-1-6), upper Adjusting bolt Adjusting screw (1-1-7) and up and down adjustment screw rod (1-1-10)；The left and right adjusting group
Part includes: left Adjusting bolt Adjusting screw (1-1-8), right Adjusting bolt Adjusting screw (1-1-9) and left and right adjusting screw rod (1-1-11)；The up and down adjustment
Component is vertically arranged, and the setting of left and right adjusting component level forms cross-shaped configuration；Wherein up and down adjustment screw rod upper end with lead
The rear end of rail mounting rack (1-1-1) is connected, and lower end is set with Adjusting bolt Adjusting screw (1-1-7) and lower Adjusting bolt Adjusting screw (1-1-6), with
The up and down adjustment screw rod (1-1-10) forms screw pair；
The left and right adjusting screw rod (1-1-11) includes the sleeve being vertically arranged and is separately positioned at left and right sides of excircle of sleeve week
Screw rod, enable the left and right sides screw rod be respectively left adjusting screw rod and right adjusting screw rod；The sleeve coaxial package is on described
Adjusting bolt Adjusting screw (1-1-7) and lower Adjusting bolt Adjusting screw (1-1-6) are external, by the sleeve to the upper Adjusting bolt Adjusting screw (1-1-7) and
Lower Adjusting bolt Adjusting screw (1-1-6) carries out axial limiting, is set with left Adjusting bolt Adjusting screw (1-1-8) on the left adjusting screw rod, forms silk
Thick stick pair of nut, left Adjusting bolt Adjusting screw (1-1-8) carry out axial limiting by nut seat；Right adjusting is set on the right adjusting screw rod
Swivel nut (1-1-9), forms screw pair, and the right Adjusting bolt Adjusting screw (1-1-9) carries out axial limiting by nut seat.
6. integrated microminiature general holder as described in claim 1, which is characterized in that the two of the bracket body (2-1)
Opposite side is respectively arranged with slewing limiter (2-4)；Two setting positions installation on vertical shaft seat (3-3) outer circumference surface
Have cushion (3-5), the cushion (3-5) is returned as the limited block cooperated with slewing limiter (2-4) for the holder
The limit of gyration.
7. integrated microminiature general holder as claimed in claim 6, which is characterized in that slewing limiter (2-4) packet
It includes: spacer pin (2-4-1), outer sleeve (2-4-2), spring (2-4-3), positioning pin (2-4-4) and pull ring (2-4-5)；The limit
Position pin (2-4-1) coaxial package is internal in outer sleeve (2-4-2), and outer sleeve (2-4-2) is stretched out at both ends, and one end end is set
It is equipped with pull ring (2-4-5)；Spring (2-4-3), institute are set with being located at outside outer sleeve (2-4-2) internal spacer pin (2-4-1)
The both ends for stating spring (2-4-3) contradict the shaft shoulder on spacer pin (2-4-1) and the annular of outer sleeve (2-4-2) inside respectively
On step surface, when pulling spacer pin (2-4-1) by pull ring (2-4-5), the spring (2-4-3) is compressed；Outer sleeve (2-4-
2) it is being machined with strip groove along its axial direction on the end face at end where pull ring (2-4-5) on, to be connected on spacer pin (2-4-1)
Positioning pin (2-4-4) provides movable passageway, and the axis of the positioning pin (2-4-4) is vertical with the axis of spacer pin (2-4-1)；Institute
When stating slewing limiter (2-4) and being in limit state, the positioning pin (2-4-4) is located in strip groove, the slot bottom with strip groove
It contradicts；When the slewing limiter (2-4) is in non-limit state, the positioning pin (2-4-4) and the outer sleeve (2-4-2)
The conflict of the end face at end, the spring (2-4-3) are in compressive state where pull ring.
8. integrated microminiature general holder as described in claim 1, which is characterized in that further include shield (5)；The shield
(5) it is mounted on the pedestal (3-1) of the support component, inside it by the electric component (4) cover.
9. integrated microminiature general holder as described in claim 1, which is characterized in that the lower plate of the pedestal (3-1)
For circular mounting disk, for carrying out flange form connection with the car body of unmanned motor platform.
10. integrated microminiature general holder as claimed in claim 2, which is characterized in that the preceding support (1-1-2) and after
Support (1-1-3) is connected by the hinged mode of pin shaft with mission payload (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499030.4A CN110260115B (en) | 2019-06-11 | 2019-06-11 | Integrated micro-miniature universal holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499030.4A CN110260115B (en) | 2019-06-11 | 2019-06-11 | Integrated micro-miniature universal holder |
Publications (2)
| Publication Number | Publication Date |
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| CN110260115A true CN110260115A (en) | 2019-09-20 |
| CN110260115B CN110260115B (en) | 2020-06-02 |
Family
ID=67917452
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910499030.4A Expired - Fee Related CN110260115B (en) | 2019-06-11 | 2019-06-11 | Integrated micro-miniature universal holder |
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| CN (1) | CN110260115B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112265613A (en) * | 2020-11-04 | 2021-01-26 | 江西中船航海仪器有限公司 | Ship safety management monitoring system based on 5G and Beidou satellite |
| CN112298056A (en) * | 2020-10-12 | 2021-02-02 | 长春通视光电技术有限公司 | Vehicle-mounted radar pitching angle swinging mechanism |
| CN114034208A (en) * | 2021-11-22 | 2022-02-11 | 陕西大工旭航电磁科技有限公司 | Coil bottom pushing type electromagnetic gun and pitching adjusting device thereof |
| CN114646002A (en) * | 2022-03-25 | 2022-06-21 | 湖南九九智能环保股份有限公司 | Sprayer and angle control method thereof, PLC (programmable logic controller) and readable storage medium |
| CN114894029A (en) * | 2022-05-28 | 2022-08-12 | 西安昆仑工业（集团）有限责任公司 | Aerogun cannon-shot test equipment |
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| CN112298056A (en) * | 2020-10-12 | 2021-02-02 | 长春通视光电技术有限公司 | Vehicle-mounted radar pitching angle swinging mechanism |
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| CN114646002A (en) * | 2022-03-25 | 2022-06-21 | 湖南九九智能环保股份有限公司 | Sprayer and angle control method thereof, PLC (programmable logic controller) and readable storage medium |
| CN114894029A (en) * | 2022-05-28 | 2022-08-12 | 西安昆仑工业（集团）有限责任公司 | Aerogun cannon-shot test equipment |
| CN114894029B (en) * | 2022-05-28 | 2023-09-29 | 西安昆仑工业（集团）有限责任公司 | Aerogun impact test equipment |
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|---|---|
| CN110260115B (en) | 2020-06-02 |
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